Related papers: Aggressive Quadrotor Flight through Narrow Gaps wi…

High speed navigation through unknown environments is a challenging problem in robotics. It requires fast computation and tight integration of all the subsystems on the robot such that the latency in the perception-action loop is as small…

Autonomous quadrotor flight in confined spaces such as pipes and tunnels presents significant challenges due to unsteady, self-induced aerodynamic disturbances. Very recent advances have enabled flight in such conditions, but they either…

Recent advances in trajectory replanning have enabled quadrotor to navigate autonomously in unknown environments. However, high-speed navigation still remains a significant challenge. Given very limited time, existing methods have no strong…

Rotor failures in quadrotors may result in high-speed rotation and vibration due to rotor imbalance, which introduces significant challenges for autonomous flight in unknown environments. The mainstream approaches against rotor failures…

Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent obstacles present significant challenges to reliable navigation and mapping. These materials pose a unique problem for traditional…

Multirotors are usually desired to enter confined narrow tunnels that are barely accessible to humans in various applications including inspection, search and rescue, and so on. This task is extremely challenging since the lack of geometric…

Autonomous, agile quadrotor flight raises fundamental challenges for robotics research in terms of perception, planning, learning, and control. A versatile and standardized platform is needed to accelerate research and let practitioners…

Various studies on perception-aware planning have been proposed to enhance the state estimation accuracy of quadrotors in visually degraded environments. However, many existing methods heavily rely on prior environmental knowledge and face…

This paper develops and experimentally evaluates a navigation function for quadrotor formation flight that is resilient to abrupt quadrotor failures and other obstacles. The navigation function is based on modeling healthy quadrotors as…

This paper describes the hardware design and flight demonstration of a small quadrotor with imaging sensors for urban mapping, hazard avoidance, and target tracking research. The vehicle is equipped with five cameras, including two pairs of…

Autonomous missions of small unmanned aerial vehicles (UAVs) are prone to collisions owing to environmental disturbances and localization errors. Consequently, a UAV that can endure collisions and perform recovery control in critical aerial…

This paper presents an aggressive trajectory tracking method for a small lightweight nano-quadrotor using nonlinear model predictive control (NMPC) based on acados. Controlling a nano quadrotor for accurate trajectory tracking at high speed…

Autonomous agile flight brings up fundamental challenges in robotics, such as coping with unreliable state estimation, reacting optimally to dynamically changing environments, and coupling perception and action in real time under severe…

As the market for commercially available unmanned aerial vehicles (UAVs) booms, there is an increasing number of small, teleoperated or autonomous aircraft found in protected or sensitive airspace. Existing solutions for removal of these…

Quadrotors have gained popularity over the last decade, aiding humans in complex tasks such as search and rescue, mapping and exploration. Despite their mechanical simplicity and versatility compared to other types of aerial vehicles, they…

With the advent of intelligent transport, quadrotors are becoming an attractive solution while lifting or dropping payloads during emergency evacuations, construction works, etc. During such operations, dynamic variations in (possibly…

This paper focuses on developing a bearings-only measurement-based three-dimensional window traversal guidance method for quadrotor Uninhabitated Aerial Vehicles (UAVs). The desired flight path and heading angles of the quadrotor are…

The ability to perform aggressive movements, which are called aggressive flights, is important for quadrotors during navigation. However, aggressive quadrotor flights are still a great challenge to practical applications. The existing…

The role of a motion planner is pivotal in quadrotor applications, yet existing methods often struggle to adapt to complex environments, limiting their ability to achieve fast, safe, and robust flight. In this letter, we introduce a…

Quadrotors have demonstrated remarkable versatility, yet their full aerobatic potential remains largely untapped due to inherent underactuation and the complexity of aggressive maneuvers. Traditional approaches, separating trajectory…