Related papers: Trajectory Generation for Quadrotor Based Systems …
The previously introduced aerial manipulation systems suffer from either limited end-effector DOF or small payload capacity. In this dissertation, a quadrotor with a 2-DOF manipulator is investigated that has a unique topology to enable the…
The advent of rotor-based hopping robots has created very capable hopping platforms with high agility and efficiency, and similar controllability, as compared to their purely flying quadrotor counterparts. Advances in robot performance have…
A novel decentralised trajectory generation algorithm for Multi Agent systems is presented. Multi-robot systems have the capacity to transform lives in a variety of fields. But, trajectory generation for multi-robot systems is still in its…
This paper examines the question of finding feasible points to discrete-time optimal control problems. The optimization problem of finding a feasible trajectory is transcribed to an unconstrained optimal control problem. An efficient…
Applying intelligent robot arms in dynamic uncertain environments (i.e., flexible production lines) remains challenging, which requires efficient algorithms for real time trajectory generation. The motion planning problem for robot…
In this paper, we propose a robust and efficient quadrotor motion planning system for fast flight in 3-D complex environments. We adopt a kinodynamic path searching method to find a safe, kinodynamic feasible and minimum-time initial…
Traditional learning approaches proposed for controlling quadrotors or helicopters have focused on improving performance for specific trajectories by iteratively improving upon a nominal controller, for example learning from demonstrations,…
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…
Trajectory optimization is a powerful tool for robot motion planning and control. State-of-the-art general-purpose nonlinear programming solvers are versatile, handle constraints effectively and provide a high numerical robustness, but they…
Reliable and efficient trajectory generation methods are a fundamental need for autonomous dynamical systems of tomorrow. The goal of this article is to provide a comprehensive tutorial of three major convex optimization-based trajectory…
Aerial robots can enhance their safe and agile navigation in complex and cluttered environments by efficiently exploiting the information collected during a given task. In this paper, we address the learning model predictive control problem…
Learning-based control methods for industrial processes leverage the repetitive nature of the underlying process to learn optimal inputs for the system. While many works focus on linear systems, real-world problems involve nonlinear…
Agile quadrotor flight relies on rapidly planning and accurately tracking time-optimal trajectories, a technology critical to their application in the wild. However, the computational burden of computing time-optimal trajectories based on…
In this work, we propose a trajectory generation method for robotic systems with contact force constraint based on optimal control and reachability analysis. Normally, the dynamics and constraints of the contact-constrained robot are…
Real-world physics can only be analytically modeled with a certain level of precision for modern intricate robotic systems. As a result, tracking aggressive trajectories accurately could be challenging due to the existence of residual…
This work proposes a jointly optimized trajectory generation and camera control approach, enabling an autonomous agent, such as an unmanned aerial vehicle (UAV) operating in 3D environments, to plan and execute coverage trajectories that…
Autonomous drone racing is becoming an excellent platform to challenge quadrotors' autonomy techniques including planning, navigation and control technologies. However, most research on this topic mainly focuses on single drone scenarios.…
Recently, diffusion models have gained popularity and attention in trajectory optimization due to their capability of modeling multi-modal probability distributions. However, addressing nonlinear equality constraints, i.e, dynamic…
This paper considers a class of rotary-wing aerial robots with unaligned propellers. By studying the dynamics of these vehicles, we show that the position and heading angle remain flat outputs of the system (similar to conventional…
In this paper, we study spline trajectory generation via the solution of two optimisation problems: (i) a quadratic program (QP) with linear equality constraints and (ii) a nonlinear and nonconvex optimisation program. We propose an…