Related papers: Trajectory Generation for Underactuated Multirotor…
This paper proposes a novel algorithm for aerobatic trajectory generation for a vertical take-off and landing (VTOL) tailsitter flying wing aircraft. The algorithm differs from existing approaches for fixed-wing trajectory generation, as it…
Soft robots have the potential to interact with sensitive environments and perform complex tasks effectively. However, motion plans and trajectories for soft manipulators are challenging to calculate due to their deformable nature and…
Tilt-rotor aerial robots are more dynamic and versatile than fixed-rotor platforms, since the thrust vector and body orientation are decoupled. However, the coordination of servos and propellers (the allocation problem) is not trivial,…
Given the evolving application scenarios of current fixed-wing unmanned aerial vehicles (UAVs), it is necessary for UAVs to possess agile and rapid 3-dimensional flight capabilities. Typically, the trajectory of a tail-sitter is generated…
Tilted hexarotors embody a technology that remains partially unexploited in terms of its potential, especially concerning precise and concurrent position and attitude control. Focusing on these aerial platforms, we propose two control…
Soft robots are well suited for contact-rich tasks due to their compliance, yet this property makes accurate and tractable modeling challenging. Planning motions with dynamically-feasible trajectories requires models that capture arbitrary…
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…
We address the theoretical and practical problems related to the trajectory generation and tracking control of tail-sitter UAVs. Theoretically, we focus on the differential flatness property with full exploitation of actual UAV aerodynamic…
This paper proposes several nonlinear control strategies for trajectory tracking of a quadcopter system based on the property of differential flatness. Its originality is twofold. Firstly, it provides a flat output for the quadcopter…
We propose a combined method for the collaborative transportation of a suspended payload by a team of rotorcraft. A recent distance-based formation-motion control algorithm based on assigning distance disagreements among robots generates…
This paper presents a trajectory generation method for contact-constrained robotic systems such as manipulators and legged robots. Contact-constrained systems are affected by the interaction forces between the robot and the environment. In…
We present a distributed control strategy for a team of quadrotors to autonomously achieve a desired 3D formation. Our approach is based on local relative position measurements and does not require global position information or…
Autonomous trajectory generation for unmanned aerial vehicles (UAVs) in unknown environments continues to be an important research area as UAVs become more prolific. We define a trajectory generation algorithm for a vehicle in an unknown…
This paper presents a new flight control framework for tilt-rotor multirotor uncrewed aerial vehicles (MRUAVs). Tiltrotor designs offer full actuation but introduce complexity in control allocation due to actuator redundancy. We propose a…
In this paper, we prove that the dynamical model of a quadrotor subject to linear rotor drag effects is differentially flat in its position and heading. We use this property to compute feed-forward control terms directly from a reference…
Efficient real-time trajectory planning and control for fixed-wing unmanned aerial vehicles is challenging due to their non-holonomic nature, complex dynamics, and the additional uncertainties introduced by unknown aerodynamic effects. In…
Neglecting complex aerodynamic effects hinders high-speed yet high-precision multirotor autonomy. In this paper, we present a computationally efficient learning-based model predictive controller that simultaneously optimizes a trajectory…
Conventional multi-rotors are under-actuated systems, hindering them from independently controlling attitude from position. In this study, we present several distinct configurations that incorporate additional control inputs for…
In this paper, a distributed formation flight control topology for Leader-Follower formation structure is presented. Such topology depends in the first place on online generation of the trajectories that should be followed by the agents in…
This paper proposes a novel trajectory generation method based on Model Predictive Control (MPC) for agile landing of an Unmanned Aerial Vehicle (UAV) onto an Unmanned Surface Vehicle (USV)'s deck in harsh conditions. The trajectory…