Related papers: Model Predictive Control for Micro Aerial Vehicle …
In this paper, we present a cascade control structure to address the trajectory tracking problem for quadcopters, ensuring uniform global asymptotic stability of the state tracking error dynamics. An MPC strategy based on a 12-dimensional…
This paper proposes a Model Predictive Control (MPC) algorithm for target tracking amongst static and dynamic obstacles. Our main contribution lies in improving the computational tractability and reliability of the underlying non-convex…
Automating drone-assisted processes is a complex task. Many solutions rely on trajectory generation and tracking, whereas in contrast, path-following control is a particularly promising approach, offering an intuitive and natural approach…
This paper presents the design, implementation, and flight test results of two novel 3D path-following guidance algorithms based on nonlinear model predictive control (MPC), with specific application to fixed-wing small uncrewed aircraft…
Intelligent aerial platforms such as Unmanned Aerial Vehicles (UAVs) are expected to revolutionize various fields, including transportation, traffic management, field monitoring, industrial production, and agricultural management. Among…
The growing potential of quadcopters in various domains, such as aerial photography, search and rescue, and infrastructure inspection, underscores the need for real-time control under strict safety and operational constraints. This…
MPC (Model predictive control)-based motion planning and trajectory generation are essential in applications such as unmanned aerial vehicles, robotic manipulators, and rocket control. However, the real-time implementation of such…
Omnidirectional micro aerial vehicles (OMAVs) are more capable of doing environmentally interactive tasks due to their ability to exert full wrenches while maintaining stable poses. However, OMAVs often incorporate additional actuators and…
A complete model of the motion of a quadcopter along a smooth spatial trajectory is presented. Based on the model, a robust algorithm is proposed for controlling a quadcopter using measurements of linear coordinates and yaw angle. By…
Model predictive control (MPC) has established itself as the primary methodology for constrained control, enabling general-purpose robot autonomy in diverse real-world scenarios. However, for most problems of interest, MPC relies on the…
We tackle the problem of flying time-optimal trajectories through multiple waypoints with quadrotors. State-of-the-art solutions split the problem into a planning task - where a global, time-optimal trajectory is generated - and a control…
This paper presents the development and implementation of a Model Predictive Control (MPC) framework for trajectory tracking in autonomous vehicles under diverse driving conditions. The proposed approach incorporates a modular architecture…
Precise trajectory tracking is a crucial property for \acp{MAV} to operate in cluttered environment or under disturbances. In this paper we present a detailed comparison between two state-of-the-art model-based control techniques for…
Flapping-wing micro aerial vehicles offer quieter and safer operation than rotary-wing drones, yet achieving precise autonomous control of bird-scale ornithopters remains challenging: lift, airspeed, and turning authority are tightly…
We propose a high-level planner for a multirotor to chase a ground vehicle, while simultaneously respecting various state and input constraints. Assuming a minimal kinematic model for the ground vehicle, we use data collected online to…
While Approximate Dynamic Programming has successfully been used in many applications involving discrete states and inputs such as playing the games of Tetris or chess, it has not been used in many continuous state and input space…
We propose an approach for mapping natural language instructions and raw observations to continuous control of a quadcopter drone. Our model predicts interpretable position-visitation distributions indicating where the agent should go…
The complex tasks such as surveillance, construction, search and rescue can benefit of the maneuverability of multirotor Micro Aerial Vehicles (MAVs) to obtain robust, cooperative system behavior and formation control is a prominent…
Controlling marine vehicles in challenging environments is a complex task due to the presence of nonlinear hydrodynamics and uncertain external disturbances. Despite nonlinear model predictive control (MPC) showing potential in addressing…
Quadcopters are increasingly used for applications ranging from hobby to industrial products and services. This paper serves as a tutorial on the design, simulation, implementation, and experimental outdoor testing of digital quadcopter…