2000 character limit reached
Adaptive morphing of wing and tail for stable, resilient, and energy-efficient flight of avian-informed drones
Published 13 Mar 2024 in cs.RO | (2403.08598v1)
Abstract: Avian-informed drones feature morphing wing and tail surfaces, enhancing agility and adaptability in flight. Despite their large potential, realising their full capabilities remains challenging due to the lack of generalized control strategies accommodating their large degrees of freedom and cross-coupling effects between their control surfaces. Here we propose a new body-rate controller for avian-informed drones that uses all available actuators to control the motion of the drone. The method exhibits robustness against physical perturbations, turbulent airflow, and even loss of certain actuators mid-flight. Furthermore, wing and tail morphing is leveraged to enhance energy efficiency at 8m/s, 10m/s and 12m/s using in-flight Bayesian optimization. The resulting morphing configurations yield significant gains across all three speeds of up to 11.5% compared to non-morphing configurations and display a strong resemblance to avian flight at different speeds. This research lays the groundwork for the development of autonomous avian-informed drones that operate under diverse wind conditions, emphasizing the role of morphing in improving energy efficiency.
- Di Luca, M., Mintchev, S., Heitz, G., Noca, F., Floreano, D.: Bioinspired morphing wings for extended flight envelope and roll control of small drones. Interface focus 7(1), 20160092 (2017) Xu et al. [2019] Xu, D., Hui, Z., Liu, Y., Chen, G.: Morphing control of a new bionic morphing uav with deep reinforcement learning. Aerospace Science and Technology 92, 232–243 (2019) Ajanic et al. [2020] Ajanic, E., Feroskhan, M., Mintchev, S., Noca, F., Floreano, D.: Bioinspired wing and tail morphing extends drone flight capabilities. Science Robotics 5(47), 2897 (2020) Chang et al. [2020] Chang, E., Matloff, L.Y., Stowers, A.K., Lentink, D.: Soft biohybrid morphing wings with feathers underactuated by wrist and finger motion. Science Robotics 5(38), 1246 (2020) Ajanic et al. [2022] Ajanic, E., Feroskhan, M., Wüest, V., Floreano, D.: Sharp turning maneuvers with avian-inspired wing and tail morphing. Communications Engineering 1(1), 34 (2022) Zhang et al. [2022] Zhang, J., Liu, Y., Gao, L., Liu, B., Zhu, Y., Zang, X., Zhao, J., Cai, H.: Bioinspired drone actuated using wing and aileron motion for extended flight capabilities. IEEE Robotics and Automation Letters 7(4), 11197–11204 (2022) https://doi.org/10.1109/LRA.2022.3192803 Brody et al. [2023] Brody, M., Podell, D., Corte Garcia, F., Munoz, E., Massey, S., Minassian, E., Gharibi, N., Lyon, D., Sanchez, B., Bishay, P.L.: Matagull: A lightweight bio-inspired non-flapping bird-like morphing drone. In: 2023 Regional Student Conferences, p. 72218 (2023) Bowman et al. [2002] Bowman, J., Sanders, B., Weisshaar, T.: Evaluating the impact of morphing technologies on aircraft performance. In: 43rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1631 (2002) Jha and Kudva [2004] Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Xu, D., Hui, Z., Liu, Y., Chen, G.: Morphing control of a new bionic morphing uav with deep reinforcement learning. Aerospace Science and Technology 92, 232–243 (2019) Ajanic et al. [2020] Ajanic, E., Feroskhan, M., Mintchev, S., Noca, F., Floreano, D.: Bioinspired wing and tail morphing extends drone flight capabilities. Science Robotics 5(47), 2897 (2020) Chang et al. [2020] Chang, E., Matloff, L.Y., Stowers, A.K., Lentink, D.: Soft biohybrid morphing wings with feathers underactuated by wrist and finger motion. Science Robotics 5(38), 1246 (2020) Ajanic et al. [2022] Ajanic, E., Feroskhan, M., Wüest, V., Floreano, D.: Sharp turning maneuvers with avian-inspired wing and tail morphing. Communications Engineering 1(1), 34 (2022) Zhang et al. [2022] Zhang, J., Liu, Y., Gao, L., Liu, B., Zhu, Y., Zang, X., Zhao, J., Cai, H.: Bioinspired drone actuated using wing and aileron motion for extended flight capabilities. IEEE Robotics and Automation Letters 7(4), 11197–11204 (2022) https://doi.org/10.1109/LRA.2022.3192803 Brody et al. [2023] Brody, M., Podell, D., Corte Garcia, F., Munoz, E., Massey, S., Minassian, E., Gharibi, N., Lyon, D., Sanchez, B., Bishay, P.L.: Matagull: A lightweight bio-inspired non-flapping bird-like morphing drone. In: 2023 Regional Student Conferences, p. 72218 (2023) Bowman et al. [2002] Bowman, J., Sanders, B., Weisshaar, T.: Evaluating the impact of morphing technologies on aircraft performance. In: 43rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1631 (2002) Jha and Kudva [2004] Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Ajanic, E., Feroskhan, M., Mintchev, S., Noca, F., Floreano, D.: Bioinspired wing and tail morphing extends drone flight capabilities. Science Robotics 5(47), 2897 (2020) Chang et al. [2020] Chang, E., Matloff, L.Y., Stowers, A.K., Lentink, D.: Soft biohybrid morphing wings with feathers underactuated by wrist and finger motion. Science Robotics 5(38), 1246 (2020) Ajanic et al. [2022] Ajanic, E., Feroskhan, M., Wüest, V., Floreano, D.: Sharp turning maneuvers with avian-inspired wing and tail morphing. Communications Engineering 1(1), 34 (2022) Zhang et al. [2022] Zhang, J., Liu, Y., Gao, L., Liu, B., Zhu, Y., Zang, X., Zhao, J., Cai, H.: Bioinspired drone actuated using wing and aileron motion for extended flight capabilities. IEEE Robotics and Automation Letters 7(4), 11197–11204 (2022) https://doi.org/10.1109/LRA.2022.3192803 Brody et al. [2023] Brody, M., Podell, D., Corte Garcia, F., Munoz, E., Massey, S., Minassian, E., Gharibi, N., Lyon, D., Sanchez, B., Bishay, P.L.: Matagull: A lightweight bio-inspired non-flapping bird-like morphing drone. In: 2023 Regional Student Conferences, p. 72218 (2023) Bowman et al. [2002] Bowman, J., Sanders, B., Weisshaar, T.: Evaluating the impact of morphing technologies on aircraft performance. In: 43rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1631 (2002) Jha and Kudva [2004] Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Chang, E., Matloff, L.Y., Stowers, A.K., Lentink, D.: Soft biohybrid morphing wings with feathers underactuated by wrist and finger motion. Science Robotics 5(38), 1246 (2020) Ajanic et al. [2022] Ajanic, E., Feroskhan, M., Wüest, V., Floreano, D.: Sharp turning maneuvers with avian-inspired wing and tail morphing. Communications Engineering 1(1), 34 (2022) Zhang et al. [2022] Zhang, J., Liu, Y., Gao, L., Liu, B., Zhu, Y., Zang, X., Zhao, J., Cai, H.: Bioinspired drone actuated using wing and aileron motion for extended flight capabilities. IEEE Robotics and Automation Letters 7(4), 11197–11204 (2022) https://doi.org/10.1109/LRA.2022.3192803 Brody et al. [2023] Brody, M., Podell, D., Corte Garcia, F., Munoz, E., Massey, S., Minassian, E., Gharibi, N., Lyon, D., Sanchez, B., Bishay, P.L.: Matagull: A lightweight bio-inspired non-flapping bird-like morphing drone. In: 2023 Regional Student Conferences, p. 72218 (2023) Bowman et al. [2002] Bowman, J., Sanders, B., Weisshaar, T.: Evaluating the impact of morphing technologies on aircraft performance. In: 43rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1631 (2002) Jha and Kudva [2004] Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Ajanic, E., Feroskhan, M., Wüest, V., Floreano, D.: Sharp turning maneuvers with avian-inspired wing and tail morphing. Communications Engineering 1(1), 34 (2022) Zhang et al. [2022] Zhang, J., Liu, Y., Gao, L., Liu, B., Zhu, Y., Zang, X., Zhao, J., Cai, H.: Bioinspired drone actuated using wing and aileron motion for extended flight capabilities. IEEE Robotics and Automation Letters 7(4), 11197–11204 (2022) https://doi.org/10.1109/LRA.2022.3192803 Brody et al. [2023] Brody, M., Podell, D., Corte Garcia, F., Munoz, E., Massey, S., Minassian, E., Gharibi, N., Lyon, D., Sanchez, B., Bishay, P.L.: Matagull: A lightweight bio-inspired non-flapping bird-like morphing drone. In: 2023 Regional Student Conferences, p. 72218 (2023) Bowman et al. [2002] Bowman, J., Sanders, B., Weisshaar, T.: Evaluating the impact of morphing technologies on aircraft performance. In: 43rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1631 (2002) Jha and Kudva [2004] Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Zhang, J., Liu, Y., Gao, L., Liu, B., Zhu, Y., Zang, X., Zhao, J., Cai, H.: Bioinspired drone actuated using wing and aileron motion for extended flight capabilities. IEEE Robotics and Automation Letters 7(4), 11197–11204 (2022) https://doi.org/10.1109/LRA.2022.3192803 Brody et al. [2023] Brody, M., Podell, D., Corte Garcia, F., Munoz, E., Massey, S., Minassian, E., Gharibi, N., Lyon, D., Sanchez, B., Bishay, P.L.: Matagull: A lightweight bio-inspired non-flapping bird-like morphing drone. In: 2023 Regional Student Conferences, p. 72218 (2023) Bowman et al. [2002] Bowman, J., Sanders, B., Weisshaar, T.: Evaluating the impact of morphing technologies on aircraft performance. In: 43rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1631 (2002) Jha and Kudva [2004] Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Brody, M., Podell, D., Corte Garcia, F., Munoz, E., Massey, S., Minassian, E., Gharibi, N., Lyon, D., Sanchez, B., Bishay, P.L.: Matagull: A lightweight bio-inspired non-flapping bird-like morphing drone. In: 2023 Regional Student Conferences, p. 72218 (2023) Bowman et al. [2002] Bowman, J., Sanders, B., Weisshaar, T.: Evaluating the impact of morphing technologies on aircraft performance. In: 43rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1631 (2002) Jha and Kudva [2004] Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bowman, J., Sanders, B., Weisshaar, T.: Evaluating the impact of morphing technologies on aircraft performance. In: 43rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1631 (2002) Jha and Kudva [2004] Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Xu, D., Hui, Z., Liu, Y., Chen, G.: Morphing control of a new bionic morphing uav with deep reinforcement learning. Aerospace Science and Technology 92, 232–243 (2019) Ajanic et al. [2020] Ajanic, E., Feroskhan, M., Mintchev, S., Noca, F., Floreano, D.: Bioinspired wing and tail morphing extends drone flight capabilities. Science Robotics 5(47), 2897 (2020) Chang et al. [2020] Chang, E., Matloff, L.Y., Stowers, A.K., Lentink, D.: Soft biohybrid morphing wings with feathers underactuated by wrist and finger motion. Science Robotics 5(38), 1246 (2020) Ajanic et al. [2022] Ajanic, E., Feroskhan, M., Wüest, V., Floreano, D.: Sharp turning maneuvers with avian-inspired wing and tail morphing. Communications Engineering 1(1), 34 (2022) Zhang et al. [2022] Zhang, J., Liu, Y., Gao, L., Liu, B., Zhu, Y., Zang, X., Zhao, J., Cai, H.: Bioinspired drone actuated using wing and aileron motion for extended flight capabilities. IEEE Robotics and Automation Letters 7(4), 11197–11204 (2022) https://doi.org/10.1109/LRA.2022.3192803 Brody et al. [2023] Brody, M., Podell, D., Corte Garcia, F., Munoz, E., Massey, S., Minassian, E., Gharibi, N., Lyon, D., Sanchez, B., Bishay, P.L.: Matagull: A lightweight bio-inspired non-flapping bird-like morphing drone. In: 2023 Regional Student Conferences, p. 72218 (2023) Bowman et al. [2002] Bowman, J., Sanders, B., Weisshaar, T.: Evaluating the impact of morphing technologies on aircraft performance. In: 43rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1631 (2002) Jha and Kudva [2004] Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Ajanic, E., Feroskhan, M., Mintchev, S., Noca, F., Floreano, D.: Bioinspired wing and tail morphing extends drone flight capabilities. Science Robotics 5(47), 2897 (2020) Chang et al. [2020] Chang, E., Matloff, L.Y., Stowers, A.K., Lentink, D.: Soft biohybrid morphing wings with feathers underactuated by wrist and finger motion. Science Robotics 5(38), 1246 (2020) Ajanic et al. [2022] Ajanic, E., Feroskhan, M., Wüest, V., Floreano, D.: Sharp turning maneuvers with avian-inspired wing and tail morphing. Communications Engineering 1(1), 34 (2022) Zhang et al. [2022] Zhang, J., Liu, Y., Gao, L., Liu, B., Zhu, Y., Zang, X., Zhao, J., Cai, H.: Bioinspired drone actuated using wing and aileron motion for extended flight capabilities. IEEE Robotics and Automation Letters 7(4), 11197–11204 (2022) https://doi.org/10.1109/LRA.2022.3192803 Brody et al. [2023] Brody, M., Podell, D., Corte Garcia, F., Munoz, E., Massey, S., Minassian, E., Gharibi, N., Lyon, D., Sanchez, B., Bishay, P.L.: Matagull: A lightweight bio-inspired non-flapping bird-like morphing drone. In: 2023 Regional Student Conferences, p. 72218 (2023) Bowman et al. [2002] Bowman, J., Sanders, B., Weisshaar, T.: Evaluating the impact of morphing technologies on aircraft performance. In: 43rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1631 (2002) Jha and Kudva [2004] Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Chang, E., Matloff, L.Y., Stowers, A.K., Lentink, D.: Soft biohybrid morphing wings with feathers underactuated by wrist and finger motion. Science Robotics 5(38), 1246 (2020) Ajanic et al. [2022] Ajanic, E., Feroskhan, M., Wüest, V., Floreano, D.: Sharp turning maneuvers with avian-inspired wing and tail morphing. Communications Engineering 1(1), 34 (2022) Zhang et al. [2022] Zhang, J., Liu, Y., Gao, L., Liu, B., Zhu, Y., Zang, X., Zhao, J., Cai, H.: Bioinspired drone actuated using wing and aileron motion for extended flight capabilities. IEEE Robotics and Automation Letters 7(4), 11197–11204 (2022) https://doi.org/10.1109/LRA.2022.3192803 Brody et al. [2023] Brody, M., Podell, D., Corte Garcia, F., Munoz, E., Massey, S., Minassian, E., Gharibi, N., Lyon, D., Sanchez, B., Bishay, P.L.: Matagull: A lightweight bio-inspired non-flapping bird-like morphing drone. In: 2023 Regional Student Conferences, p. 72218 (2023) Bowman et al. [2002] Bowman, J., Sanders, B., Weisshaar, T.: Evaluating the impact of morphing technologies on aircraft performance. In: 43rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1631 (2002) Jha and Kudva [2004] Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Ajanic, E., Feroskhan, M., Wüest, V., Floreano, D.: Sharp turning maneuvers with avian-inspired wing and tail morphing. Communications Engineering 1(1), 34 (2022) Zhang et al. [2022] Zhang, J., Liu, Y., Gao, L., Liu, B., Zhu, Y., Zang, X., Zhao, J., Cai, H.: Bioinspired drone actuated using wing and aileron motion for extended flight capabilities. IEEE Robotics and Automation Letters 7(4), 11197–11204 (2022) https://doi.org/10.1109/LRA.2022.3192803 Brody et al. [2023] Brody, M., Podell, D., Corte Garcia, F., Munoz, E., Massey, S., Minassian, E., Gharibi, N., Lyon, D., Sanchez, B., Bishay, P.L.: Matagull: A lightweight bio-inspired non-flapping bird-like morphing drone. In: 2023 Regional Student Conferences, p. 72218 (2023) Bowman et al. [2002] Bowman, J., Sanders, B., Weisshaar, T.: Evaluating the impact of morphing technologies on aircraft performance. In: 43rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1631 (2002) Jha and Kudva [2004] Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Zhang, J., Liu, Y., Gao, L., Liu, B., Zhu, Y., Zang, X., Zhao, J., Cai, H.: Bioinspired drone actuated using wing and aileron motion for extended flight capabilities. IEEE Robotics and Automation Letters 7(4), 11197–11204 (2022) https://doi.org/10.1109/LRA.2022.3192803 Brody et al. [2023] Brody, M., Podell, D., Corte Garcia, F., Munoz, E., Massey, S., Minassian, E., Gharibi, N., Lyon, D., Sanchez, B., Bishay, P.L.: Matagull: A lightweight bio-inspired non-flapping bird-like morphing drone. In: 2023 Regional Student Conferences, p. 72218 (2023) Bowman et al. [2002] Bowman, J., Sanders, B., Weisshaar, T.: Evaluating the impact of morphing technologies on aircraft performance. In: 43rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1631 (2002) Jha and Kudva [2004] Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Brody, M., Podell, D., Corte Garcia, F., Munoz, E., Massey, S., Minassian, E., Gharibi, N., Lyon, D., Sanchez, B., Bishay, P.L.: Matagull: A lightweight bio-inspired non-flapping bird-like morphing drone. In: 2023 Regional Student Conferences, p. 72218 (2023) Bowman et al. [2002] Bowman, J., Sanders, B., Weisshaar, T.: Evaluating the impact of morphing technologies on aircraft performance. In: 43rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1631 (2002) Jha and Kudva [2004] Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bowman, J., Sanders, B., Weisshaar, T.: Evaluating the impact of morphing technologies on aircraft performance. In: 43rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1631 (2002) Jha and Kudva [2004] Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Ajanic, E., Feroskhan, M., Mintchev, S., Noca, F., Floreano, D.: Bioinspired wing and tail morphing extends drone flight capabilities. Science Robotics 5(47), 2897 (2020) Chang et al. [2020] Chang, E., Matloff, L.Y., Stowers, A.K., Lentink, D.: Soft biohybrid morphing wings with feathers underactuated by wrist and finger motion. Science Robotics 5(38), 1246 (2020) Ajanic et al. [2022] Ajanic, E., Feroskhan, M., Wüest, V., Floreano, D.: Sharp turning maneuvers with avian-inspired wing and tail morphing. Communications Engineering 1(1), 34 (2022) Zhang et al. [2022] Zhang, J., Liu, Y., Gao, L., Liu, B., Zhu, Y., Zang, X., Zhao, J., Cai, H.: Bioinspired drone actuated using wing and aileron motion for extended flight capabilities. IEEE Robotics and Automation Letters 7(4), 11197–11204 (2022) https://doi.org/10.1109/LRA.2022.3192803 Brody et al. [2023] Brody, M., Podell, D., Corte Garcia, F., Munoz, E., Massey, S., Minassian, E., Gharibi, N., Lyon, D., Sanchez, B., Bishay, P.L.: Matagull: A lightweight bio-inspired non-flapping bird-like morphing drone. In: 2023 Regional Student Conferences, p. 72218 (2023) Bowman et al. [2002] Bowman, J., Sanders, B., Weisshaar, T.: Evaluating the impact of morphing technologies on aircraft performance. In: 43rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1631 (2002) Jha and Kudva [2004] Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Chang, E., Matloff, L.Y., Stowers, A.K., Lentink, D.: Soft biohybrid morphing wings with feathers underactuated by wrist and finger motion. Science Robotics 5(38), 1246 (2020) Ajanic et al. [2022] Ajanic, E., Feroskhan, M., Wüest, V., Floreano, D.: Sharp turning maneuvers with avian-inspired wing and tail morphing. Communications Engineering 1(1), 34 (2022) Zhang et al. [2022] Zhang, J., Liu, Y., Gao, L., Liu, B., Zhu, Y., Zang, X., Zhao, J., Cai, H.: Bioinspired drone actuated using wing and aileron motion for extended flight capabilities. IEEE Robotics and Automation Letters 7(4), 11197–11204 (2022) https://doi.org/10.1109/LRA.2022.3192803 Brody et al. [2023] Brody, M., Podell, D., Corte Garcia, F., Munoz, E., Massey, S., Minassian, E., Gharibi, N., Lyon, D., Sanchez, B., Bishay, P.L.: Matagull: A lightweight bio-inspired non-flapping bird-like morphing drone. In: 2023 Regional Student Conferences, p. 72218 (2023) Bowman et al. [2002] Bowman, J., Sanders, B., Weisshaar, T.: Evaluating the impact of morphing technologies on aircraft performance. In: 43rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1631 (2002) Jha and Kudva [2004] Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Ajanic, E., Feroskhan, M., Wüest, V., Floreano, D.: Sharp turning maneuvers with avian-inspired wing and tail morphing. Communications Engineering 1(1), 34 (2022) Zhang et al. [2022] Zhang, J., Liu, Y., Gao, L., Liu, B., Zhu, Y., Zang, X., Zhao, J., Cai, H.: Bioinspired drone actuated using wing and aileron motion for extended flight capabilities. IEEE Robotics and Automation Letters 7(4), 11197–11204 (2022) https://doi.org/10.1109/LRA.2022.3192803 Brody et al. [2023] Brody, M., Podell, D., Corte Garcia, F., Munoz, E., Massey, S., Minassian, E., Gharibi, N., Lyon, D., Sanchez, B., Bishay, P.L.: Matagull: A lightweight bio-inspired non-flapping bird-like morphing drone. In: 2023 Regional Student Conferences, p. 72218 (2023) Bowman et al. [2002] Bowman, J., Sanders, B., Weisshaar, T.: Evaluating the impact of morphing technologies on aircraft performance. In: 43rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1631 (2002) Jha and Kudva [2004] Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Zhang, J., Liu, Y., Gao, L., Liu, B., Zhu, Y., Zang, X., Zhao, J., Cai, H.: Bioinspired drone actuated using wing and aileron motion for extended flight capabilities. IEEE Robotics and Automation Letters 7(4), 11197–11204 (2022) https://doi.org/10.1109/LRA.2022.3192803 Brody et al. [2023] Brody, M., Podell, D., Corte Garcia, F., Munoz, E., Massey, S., Minassian, E., Gharibi, N., Lyon, D., Sanchez, B., Bishay, P.L.: Matagull: A lightweight bio-inspired non-flapping bird-like morphing drone. In: 2023 Regional Student Conferences, p. 72218 (2023) Bowman et al. [2002] Bowman, J., Sanders, B., Weisshaar, T.: Evaluating the impact of morphing technologies on aircraft performance. In: 43rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1631 (2002) Jha and Kudva [2004] Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Brody, M., Podell, D., Corte Garcia, F., Munoz, E., Massey, S., Minassian, E., Gharibi, N., Lyon, D., Sanchez, B., Bishay, P.L.: Matagull: A lightweight bio-inspired non-flapping bird-like morphing drone. In: 2023 Regional Student Conferences, p. 72218 (2023) Bowman et al. [2002] Bowman, J., Sanders, B., Weisshaar, T.: Evaluating the impact of morphing technologies on aircraft performance. In: 43rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1631 (2002) Jha and Kudva [2004] Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bowman, J., Sanders, B., Weisshaar, T.: Evaluating the impact of morphing technologies on aircraft performance. In: 43rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1631 (2002) Jha and Kudva [2004] Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Chang, E., Matloff, L.Y., Stowers, A.K., Lentink, D.: Soft biohybrid morphing wings with feathers underactuated by wrist and finger motion. Science Robotics 5(38), 1246 (2020) Ajanic et al. [2022] Ajanic, E., Feroskhan, M., Wüest, V., Floreano, D.: Sharp turning maneuvers with avian-inspired wing and tail morphing. Communications Engineering 1(1), 34 (2022) Zhang et al. [2022] Zhang, J., Liu, Y., Gao, L., Liu, B., Zhu, Y., Zang, X., Zhao, J., Cai, H.: Bioinspired drone actuated using wing and aileron motion for extended flight capabilities. IEEE Robotics and Automation Letters 7(4), 11197–11204 (2022) https://doi.org/10.1109/LRA.2022.3192803 Brody et al. [2023] Brody, M., Podell, D., Corte Garcia, F., Munoz, E., Massey, S., Minassian, E., Gharibi, N., Lyon, D., Sanchez, B., Bishay, P.L.: Matagull: A lightweight bio-inspired non-flapping bird-like morphing drone. In: 2023 Regional Student Conferences, p. 72218 (2023) Bowman et al. [2002] Bowman, J., Sanders, B., Weisshaar, T.: Evaluating the impact of morphing technologies on aircraft performance. In: 43rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1631 (2002) Jha and Kudva [2004] Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Ajanic, E., Feroskhan, M., Wüest, V., Floreano, D.: Sharp turning maneuvers with avian-inspired wing and tail morphing. Communications Engineering 1(1), 34 (2022) Zhang et al. [2022] Zhang, J., Liu, Y., Gao, L., Liu, B., Zhu, Y., Zang, X., Zhao, J., Cai, H.: Bioinspired drone actuated using wing and aileron motion for extended flight capabilities. IEEE Robotics and Automation Letters 7(4), 11197–11204 (2022) https://doi.org/10.1109/LRA.2022.3192803 Brody et al. [2023] Brody, M., Podell, D., Corte Garcia, F., Munoz, E., Massey, S., Minassian, E., Gharibi, N., Lyon, D., Sanchez, B., Bishay, P.L.: Matagull: A lightweight bio-inspired non-flapping bird-like morphing drone. In: 2023 Regional Student Conferences, p. 72218 (2023) Bowman et al. [2002] Bowman, J., Sanders, B., Weisshaar, T.: Evaluating the impact of morphing technologies on aircraft performance. In: 43rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1631 (2002) Jha and Kudva [2004] Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Zhang, J., Liu, Y., Gao, L., Liu, B., Zhu, Y., Zang, X., Zhao, J., Cai, H.: Bioinspired drone actuated using wing and aileron motion for extended flight capabilities. IEEE Robotics and Automation Letters 7(4), 11197–11204 (2022) https://doi.org/10.1109/LRA.2022.3192803 Brody et al. [2023] Brody, M., Podell, D., Corte Garcia, F., Munoz, E., Massey, S., Minassian, E., Gharibi, N., Lyon, D., Sanchez, B., Bishay, P.L.: Matagull: A lightweight bio-inspired non-flapping bird-like morphing drone. In: 2023 Regional Student Conferences, p. 72218 (2023) Bowman et al. [2002] Bowman, J., Sanders, B., Weisshaar, T.: Evaluating the impact of morphing technologies on aircraft performance. In: 43rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1631 (2002) Jha and Kudva [2004] Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Brody, M., Podell, D., Corte Garcia, F., Munoz, E., Massey, S., Minassian, E., Gharibi, N., Lyon, D., Sanchez, B., Bishay, P.L.: Matagull: A lightweight bio-inspired non-flapping bird-like morphing drone. In: 2023 Regional Student Conferences, p. 72218 (2023) Bowman et al. [2002] Bowman, J., Sanders, B., Weisshaar, T.: Evaluating the impact of morphing technologies on aircraft performance. In: 43rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1631 (2002) Jha and Kudva [2004] Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bowman, J., Sanders, B., Weisshaar, T.: Evaluating the impact of morphing technologies on aircraft performance. In: 43rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1631 (2002) Jha and Kudva [2004] Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Ajanic, E., Feroskhan, M., Wüest, V., Floreano, D.: Sharp turning maneuvers with avian-inspired wing and tail morphing. Communications Engineering 1(1), 34 (2022) Zhang et al. [2022] Zhang, J., Liu, Y., Gao, L., Liu, B., Zhu, Y., Zang, X., Zhao, J., Cai, H.: Bioinspired drone actuated using wing and aileron motion for extended flight capabilities. IEEE Robotics and Automation Letters 7(4), 11197–11204 (2022) https://doi.org/10.1109/LRA.2022.3192803 Brody et al. [2023] Brody, M., Podell, D., Corte Garcia, F., Munoz, E., Massey, S., Minassian, E., Gharibi, N., Lyon, D., Sanchez, B., Bishay, P.L.: Matagull: A lightweight bio-inspired non-flapping bird-like morphing drone. In: 2023 Regional Student Conferences, p. 72218 (2023) Bowman et al. [2002] Bowman, J., Sanders, B., Weisshaar, T.: Evaluating the impact of morphing technologies on aircraft performance. In: 43rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1631 (2002) Jha and Kudva [2004] Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Zhang, J., Liu, Y., Gao, L., Liu, B., Zhu, Y., Zang, X., Zhao, J., Cai, H.: Bioinspired drone actuated using wing and aileron motion for extended flight capabilities. IEEE Robotics and Automation Letters 7(4), 11197–11204 (2022) https://doi.org/10.1109/LRA.2022.3192803 Brody et al. [2023] Brody, M., Podell, D., Corte Garcia, F., Munoz, E., Massey, S., Minassian, E., Gharibi, N., Lyon, D., Sanchez, B., Bishay, P.L.: Matagull: A lightweight bio-inspired non-flapping bird-like morphing drone. In: 2023 Regional Student Conferences, p. 72218 (2023) Bowman et al. [2002] Bowman, J., Sanders, B., Weisshaar, T.: Evaluating the impact of morphing technologies on aircraft performance. In: 43rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1631 (2002) Jha and Kudva [2004] Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Brody, M., Podell, D., Corte Garcia, F., Munoz, E., Massey, S., Minassian, E., Gharibi, N., Lyon, D., Sanchez, B., Bishay, P.L.: Matagull: A lightweight bio-inspired non-flapping bird-like morphing drone. In: 2023 Regional Student Conferences, p. 72218 (2023) Bowman et al. [2002] Bowman, J., Sanders, B., Weisshaar, T.: Evaluating the impact of morphing technologies on aircraft performance. In: 43rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1631 (2002) Jha and Kudva [2004] Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bowman, J., Sanders, B., Weisshaar, T.: Evaluating the impact of morphing technologies on aircraft performance. In: 43rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1631 (2002) Jha and Kudva [2004] Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Zhang, J., Liu, Y., Gao, L., Liu, B., Zhu, Y., Zang, X., Zhao, J., Cai, H.: Bioinspired drone actuated using wing and aileron motion for extended flight capabilities. IEEE Robotics and Automation Letters 7(4), 11197–11204 (2022) https://doi.org/10.1109/LRA.2022.3192803 Brody et al. [2023] Brody, M., Podell, D., Corte Garcia, F., Munoz, E., Massey, S., Minassian, E., Gharibi, N., Lyon, D., Sanchez, B., Bishay, P.L.: Matagull: A lightweight bio-inspired non-flapping bird-like morphing drone. In: 2023 Regional Student Conferences, p. 72218 (2023) Bowman et al. [2002] Bowman, J., Sanders, B., Weisshaar, T.: Evaluating the impact of morphing technologies on aircraft performance. In: 43rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1631 (2002) Jha and Kudva [2004] Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Brody, M., Podell, D., Corte Garcia, F., Munoz, E., Massey, S., Minassian, E., Gharibi, N., Lyon, D., Sanchez, B., Bishay, P.L.: Matagull: A lightweight bio-inspired non-flapping bird-like morphing drone. In: 2023 Regional Student Conferences, p. 72218 (2023) Bowman et al. [2002] Bowman, J., Sanders, B., Weisshaar, T.: Evaluating the impact of morphing technologies on aircraft performance. In: 43rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1631 (2002) Jha and Kudva [2004] Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bowman, J., Sanders, B., Weisshaar, T.: Evaluating the impact of morphing technologies on aircraft performance. In: 43rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1631 (2002) Jha and Kudva [2004] Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Brody, M., Podell, D., Corte Garcia, F., Munoz, E., Massey, S., Minassian, E., Gharibi, N., Lyon, D., Sanchez, B., Bishay, P.L.: Matagull: A lightweight bio-inspired non-flapping bird-like morphing drone. In: 2023 Regional Student Conferences, p. 72218 (2023) Bowman et al. [2002] Bowman, J., Sanders, B., Weisshaar, T.: Evaluating the impact of morphing technologies on aircraft performance. In: 43rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1631 (2002) Jha and Kudva [2004] Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bowman, J., Sanders, B., Weisshaar, T.: Evaluating the impact of morphing technologies on aircraft performance. In: 43rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1631 (2002) Jha and Kudva [2004] Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Bowman, J., Sanders, B., Weisshaar, T.: Evaluating the impact of morphing technologies on aircraft performance. In: 43rd AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1631 (2002) Jha and Kudva [2004] Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Jha, A.K., Kudva, J.N.: Morphing aircraft concepts, classifications, and challenges. In: Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, vol. 5388, pp. 213–224 (2004). SPIE Bowman et al. [2007] Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Bowman, J., Sanders, B., Cannon, B., Kudva, J., Joshi, S., Weisshaar, T.: Development of next generation morphing aircraft structures. In: 48th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, p. 1730 (2007) Mintchev and Floreano [2016] Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Mintchev, S., Floreano, D.: Adaptive morphology: A design principle for multimodal and multifunctional robots. IEEE Robotics & Automation Magazine 23(3), 42–54 (2016) Harvey and Inman [2021] Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Harvey, C., Inman, D.J.: Aerodynamic efficiency of gliding birds vs comparable uavs: a review. Bioinspiration & Biomimetics 16(3), 031001 (2021) Harvey et al. [2022] Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Harvey, C., Gamble, L.L., Bolander, C.R., Hunsaker, D.F., Joo, J.J., Inman, D.J.: A review of avian-inspired morphing for uav flight control. Progress in Aerospace Sciences 132, 100825 (2022) van Oorschot et al. [2020] Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Oorschot, B.K., Choroszucha, R., Tobalske, B.: Passive aeroelastic deflection of avian primary feathers. Bioinspiration & Biomimetics 15(5), 056008 (2020) Greatwood et al. [2017] Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Greatwood, C., Waldock, A., Richardson, T.: Perched landing manoeuvres with a variable sweep wing uav. Aerospace Science and Technology 71, 510–520 (2017) Waldock et al. [2018] Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Waldock, A., Greatwood, C., Salama, F., Richardson, T.: Learning to perform a perched landing on the ground using deep reinforcement learning. Journal of intelligent & robotic systems 92, 685–704 (2018) Fletcher et al. [2021] Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Fletcher, L.J., Clarke, R.J., Richardson, T.S., Hansen, M.: Reinforcement learning for a perched landing in the presence of wind. In: AIAA Scitech 2021 Forum, p. 1282 (2021) Liu et al. [2023] Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Liu, Y., Zhang, J., Gao, L., Zhu, Y., Liu, B., Zang, X., Cai, H., Zhao, J.: Employing wing morphing to cooperate aileron deflection improves the rolling agility of drones. Advanced Intelligent Systems, 2300420 (2023) Stastny and Siegwart [2019] Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Stastny, T., Siegwart, R.: On flying backwards: Preventing run-away of small, low-speed, fixed-wing uavs in strong winds. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5198–5205 (2019). IEEE Beard and McLain [2012] Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton university press, ??? (2012) Kaufmann et al. [2023] Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Kaufmann, E., Bauersfeld, L., Loquercio, A., Müller, M., Koltun, V., Scaramuzza, D.: Champion-level drone racing using deep reinforcement learning. Nature 620(7976), 982–987 (2023) Selig [2010] Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Selig, M.: Modeling full-envelope aerodynamics of small uavs in realtime. In: AIAA Atmospheric Flight Mechanics Conference, p. 7635 (2010) Torrente et al. [2021] Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Torrente, G., Kaufmann, E., Föhn, P., Scaramuzza, D.: Data-driven mpc for quadrotors. IEEE Robotics and Automation Letters 6(2), 3769–3776 (2021) Rohr et al. [2023] Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Rohr, D., Lawrance, N., Andersson, O., Siegwart, R.: Credible online dynamics learning for hybrid uavs. In: 2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1305–1311 (2023). IEEE Cheney et al. [2021] Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Cheney, J.A., Stevenson, J.P., Durston, N.E., Maeda, M., Song, J., Megson-Smith, D.A., Windsor, S.P., Usherwood, J.R., Bomphrey, R.J.: Raptor wing morphing with flight speed. Journal of the Royal Society Interface 18(180), 20210349 (2021) Thomas [1996] Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Thomas, A.L.: The flight of birds that have wings and a tail: variable geometry expands the envelope of flight performance. Journal of Theoretical Biology 183(3), 237–245 (1996) Lentink et al. [2007] Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Lentink, D., Müller, U., Stamhuis, E., De Kat, R., Van Gestel, W., Veldhuis, L., Henningsson, P., Hedenström, A., Videler, J.J., Van Leeuwen, J.L.: How swifts control their glide performance with morphing wings. Nature 446(7139), 1082–1085 (2007) Quinn et al. [2019] Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Quinn, D., Kress, D., Chang, E., Stein, A., Wegrzynski, M., Lentink, D.: How lovebirds maneuver through lateral gusts with minimal visual information. Proceedings of the National Academy of Sciences 116(30), 15033–15041 (2019) Cheney et al. [2020] Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Cheney, J.A., Stevenson, J.P., Durston, N.E., Song, J., Usherwood, J.R., Bomphrey, R.J., Windsor, S.P.: Bird wings act as a suspension system that rejects gusts. Proceedings of the Royal Society B 287(1937), 20201748 (2020) Laurent et al. [2021] Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Laurent, K.M., Fogg, B., Ginsburg, T., Halverson, C., Lanzone, M.J., Miller, T.A., Winkler, D.W., Bewley, G.P.: Turbulence explains the accelerations of an eagle in natural flight. Proceedings of the National Academy of Sciences 118(23), 2102588118 (2021) Yang et al. [2022] Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Yang, H., Bewley, G.P., Ferrari, S.: A fast-tracking-particle-inspired flow-aided control approach for air vehicles in turbulent flow. Biomimetics 7(4), 192 (2022) windshape [2024] windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- windshape: Agile Windshaper for small test subjects. Accessed: 2024-01-22 (2024). https://windshape.com/#technology_windshaper Suys et al. [2023] Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Suys, T., Hwang, S., Croon, G.C., Remes, B.D.: Autonomous control for orographic soaring of fixed-wing uavs. arXiv preprint arXiv:2305.13891 (2023) Optitrack [2024] Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Optitrack: OptiTrack Motion Capture Systems. Accessed: 2024-01-22 (2024). https://www.optitrack.com/ Open Source Robotics Foundation [2024] Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Open Source Robotics Foundation: ROS (Robot Operating System). Accessed: 2024-01-22 (2024). https://www.ros.org/ Ribeiro [2004] Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Ribeiro, M.I.: Kalman and extended kalman filters: Concept, derivation and properties. Institute for Systems and Robotics 43(46), 3736–3741 (2004) Pixhawk [2024] Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Pixhawk: Pixhawk 4. Accessed: 2024-01-22 (2024). https://docs.px4.io/master/en/flight_controller/pixhawk4.html NVIDIA Corporation [2024] NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- NVIDIA Corporation: NVIDIA Jetson Nano Developer Kit. Accessed: 2024-01-22 (2024). https://developer.nvidia.com/embedded/jetson-nano-developer-kit Laboratory of Intelligent Systems - EPFL [2023] Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Laboratory of Intelligent Systems - EPFL: LIS Vision Flight Hardware: Jetson Nano Carrier Board. GitHub (2023) ATI [2024] ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- ATI: Force and torque balance. Accessed: 2024-01-22 (2024). https://www.ati-ia.com/products/ft/ft_models.aspx?id=Nano25 Stäubli [2024] Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Stäubli: Robotic arm. Accessed: 2024-01-22 (2024). https://www.staubli.com/de/en/robotics/products/industrial-robots/tx2-90.html Vicroy et al. [2012] Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Vicroy, D.D., Loeser, T.D., Schütte, A.: Static and forced-oscillation tests of a generic unmanned combat air vehicle. Journal of Aircraft 49(6), 1558–1583 (2012) https://doi.org/10.2514/1.C031501 Klein and Murphy [2001] Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Klein, V., Murphy, P.: Estimation of aircraft unsteady aerodynamic parameters from dynamic wind tunnel testing. In: AIAA Atmospheric Flight Mechanics Conference and Exhibit, p. 4016 (2001). https://doi.org/10.2514/6.2001-4016 TYTO [2024] TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- TYTO: Series 1585. Accessed: 2024-01-22 (2024). https://www.tytorobotics.com/pages/series-1580-1585 Poksawat et al. [2016] Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Poksawat, P., Wang, L., Mohamed, A.: Automatic tuning of attitude control system for fixed-wing unmanned aerial vehicles. IET Control Theory & Applications 10(17), 2233–2242 (2016) Smeur et al. [2016] Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Smeur, E.J., Chu, Q., De Croon, G.C.: Adaptive incremental nonlinear dynamic inversion for attitude control of micro air vehicles. Journal of Guidance, Control, and Dynamics 39(3), 450–461 (2016) Tal and Karaman [2021] Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Tal, E.A., Karaman, S.: Global trajectory-tracking control for a tailsitter flying wing in agile uncoordinated flight. In: AIAA Aviation 2021 Forum, p. 3214 (2021) Sobolic [2009] Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Sobolic, F.M.: Agile flight control techniques for a fixed-wing aircraft. PhD thesis, Massachusetts Institute of Technology (2009) Poksawat et al. [2017] Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Poksawat, P., Wang, L., Mohamed, A.: Gain scheduled attitude control of fixed-wing uav with automatic controller tuning. IEEE Transactions on Control Systems Technology 26(4), 1192–1203 (2017) Bulka and Nahon [2018] Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Bulka, E., Nahon, M.: Autonomous fixed-wing aerobatics: From theory to flight. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 6573–6580 (2018). https://doi.org/10.1109/ICRA.2018.8460610 Sattar et al. [2020] Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Sattar, A., Wang, L., Mohamed, A., Fisher, A.: Roll rate controller design of small fixed wing uav using relay with embedded integrator. In: 2020 Australian and New Zealand Control Conference (ANZCC), pp. 149–153 (2020). IEEE Susanto et al. [2021] Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Susanto, T., Setiawan, M.B., Jayadi, A., Rossi, F., Hamdhi, A., Sembiring, J.P.: Application of unmanned aircraft pid control system for roll, pitch and yaw stability on fixed wings. In: 2021 International Conference on Computer Science, Information Technology, and Electrical Engineering (ICOMITEE), pp. 186–190 (2021). IEEE Visioli [2004] Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Visioli, A.: A new design for a pid plus feedforward controller. Journal of Process Control 14(4), 457–463 (2004) Nise [2020] Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Nise, N.S.: Control Systems Engineering. John Wiley & Sons, ??? (2020) Song et al. [2021] Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Song, Y., Naji, S., Kaufmann, E., Loquercio, A., Scaramuzza, D.: Flightmare: A flexible quadrotor simulator. In: Conference on Robot Learning, pp. 1147–1157 (2021). PMLR Dietrich et al. [2015] Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Dietrich, A., Ott, C., Albu-Schäffer, A.: An overview of null space projections for redundant, torque-controlled robots. The International Journal of Robotics Research 34(11), 1385–1400 (2015) Frazier [2018] Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Frazier, P.I.: A tutorial on bayesian optimization. arXiv preprint arXiv:1807.02811 (2018) Holybro [2024] Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Holybro: PM02. Accessed: 2024-01-22 (2024). https://docs.px4.io/main/en/power_module/holybro_pm02.html Nogueira [2014–] Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Nogueira, F.: Bayesian Optimization: Open source constrained global optimization tool for Python (2014–). https://github.com/fmfn/BayesianOptimization Jeger et al. [2024] Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Jeger, S., Wüest, V., Toumieh, C., Floreano, D.: Adaptive Morphing of Wing and Tail for Stable, Resilient, and Energy-efficient Flight of Avian-informed Drones. https://doi.org/10.5281/zenodo.10807443 . https://doi.org/10.5281/zenodo.10807443 Karki [2000] Karki, J.: Active low-pass filter design. Texas Instruments application report (2000) Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
- Karki, J.: Active low-pass filter design. Texas Instruments application report (2000)
Paper Prompts
Sign up for free to create and run prompts on this paper using GPT-5.
Top Community Prompts
Collections
Sign up for free to add this paper to one or more collections.
