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Payload grasping and transportation with quadcopters is an active research area that has rapidly developed over the last decade. To grasp a payload without human interaction, most state-of-the-art approaches apply robotic arms that are…

Despite the growing impact of Unmanned Aerial Vehicles (UAVs) across various industries, most of current available solutions lack for a robust autonomous navigation system to deal with the appearance of obstacles safely. This work presents…

In this work, we present an approach to supervisory reinforcement learning control for unmanned aerial vehicles (UAVs). UAVs are dynamic systems where control decisions in response to disturbances in the environment have to be made in the…

In this paper we propose a computational design tool that al-lows end-users to create advanced quadrotor trajectories witha variety of application scenarios in mind. Our algorithm al-lows novice users to create quadrotor based use-cases…

In this paper, we propose a reinforcement learning-based algorithm for trajectory optimization for constrained dynamical systems. This problem is motivated by the fact that for most robotic systems, the dynamics may not always be known.…

Quadcopters have been studied for decades thanks to their maneuverability and capability of operating in a variety of circumstances. However, quadcopters suffer from dynamical nonlinearity, actuator saturation, as well as sensor noise that…

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…

Learning-based controllers have achieved impressive performance in agile quadrotor flight but typically rely on massive training in simulation, necessitating accurate system identification for effective Sim2Real transfer. However, even with…

Drones are becoming versatile in a myriad of applications. This has led to the use of drones for spying and intruding into the restricted or private air spaces. Such foul use of drone technology is dangerous for the safety and security of…

The autonomous formation flight of fixed-wing drones is hard when the coordination requires the actuation over their speeds since they are critically bounded and aircraft are mostly designed to fly at a nominal airspeed. This paper proposes…

Motion planning for aerial manipulators in constrained environments has typically been limited to known environments or simplified to that of multi-rotors, which leads to poor adaptability and overly conservative trajectories. This paper…

This paper proposes a novel framework for autonomous drone navigation through a cluttered environment. Control policies are learnt in a low-level environment during training and are applied to a complex environment during inference. The…

We address the problem of reactive motion planning for quadrotors operating in unknown environments with dynamic obstacles. Our approach leverages a 4-dimensional spatio-temporal planner, integrated with vision-based Safe Flight Corridor…

As autonomous robots increasingly become part of daily life, they will often encounter dynamic environments while only having limited information about their surroundings. Unfortunately, due to the possible presence of malicious dynamic…

Multirotor UAVs are used for a wide spectrum of civilian and public domain applications. Navigation controllers endowed with different attributes and onboard sensor suites enable multirotor autonomous or semi-autonomous, safe flight,…

Achieving human-like driving behaviors in complex open-world environments is a critical challenge in autonomous driving. Contemporary learning-based planning approaches such as imitation learning methods often struggle to balance competing…

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…

Traditional target tracking pipelines including detection, mapping, navigation, and control are comprehensive but introduce high latency, limitting the agility of quadrotors. On the contrary, we follow the design principle of "less is…

Autonomous systems, including robots and drones, face significant challenges when navigating through dynamic environments, particularly within urban settings where obstacles, fluctuating traffic, and pedestrian activity are constantly…

Trajectory planning in robotics aims to generate collision-free pose sequences that can be reliably executed. Recently, vision-to-planning systems have gained increasing attention for their efficiency and ability to interpret and adapt to…