Electrical and Computer Engineering ETDs

Publication Date

Summer 7-14-2025

Abstract

This thesis introduces FlySurf, a novel flying robotic surface capable of simultaneous shape morphing and motion control. FlySurf is modeled as a mesh-based dynamic structure actuated by multiple unmanned aerial vehicles, enabling complex deformations during flight. The proposed control architecture comprises three main components. First, a state estimator to infer the robotic surface state from limited observations. Second, a shape trajectory planner that incorporates an affine deformation term to preserve surface integrity during shape transitions. Third, a surface controller to minimize the error between the desired and actual surface configurations.

The methodology is validated through realistic simulations and hardware experiments, demonstrating the effectiveness of FlySurf’s control framework across tasks involving coordinated shape morphing, translation, and rotation. Additionally, the architecture is extended for space applications and evaluated in zero-gravity simulations. This work represents a significant contribution to robotics, where achieving simultaneous motion control and shape adaptation remains a challenging task.

Keywords

Robotics, Shape morphing, Aerial systems, Optimal control, Multivehicle systems

Document Type

Thesis

Degree Name

Electrical Engineering

Level of Degree

Masters

Department Name

Electrical and Computer Engineering

First Committee Member (Chair)

Dr. Rafael Fierro

Second Committee Member

Dr. David Saldaña

Third Committee Member

Dr. Meeko Oishi

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