Related papers: Flightmare: A Flexible Quadrotor Simulator
This work explores the potential of using differentiable simulation for learning quadruped locomotion. Differentiable simulation promises fast convergence and stable training by computing low-variance first-order gradients using robot…
Co-simulation is a critical approach for the design and analysis of complex cyber-physical systems. It will enhance development efficiency and reduce costs. This paper presents a co-simulation framework integrating ROS 2 and MATLAB/Simulink…
Aerial-aquatic vehicles are capable to move in the two most dominant fluids, making them more promising for a wide range of applications. We propose a prototype with special designs for propulsion and thruster configuration to cope with the…
In trajectory planning and control design for unmanned air vehicles, highly simplified models are typically used to represent the vehicle dynamics and the operating environment. The goal of this work is to perform real-time, but realistic…
Realistic and controllable simulation is critical for advancing end-to-end autonomous driving, yet existing approaches often struggle to support novel view synthesis under large viewpoint changes or to ensure geometric consistency. We…
This paper introduces a quadrotor's autonomous take-off and landing system on a moving platform. The designed system addresses three challenging problems: fast pose estimation, restricted external localization, and effective obstacle…
Recent advancements in neural rendering technologies and their supporting devices have paved the way for immersive 3D experiences, significantly transforming human interaction with intelligent devices across diverse applications. However,…
This paper presents a scalable online algorithm to generate safe and kinematically feasible trajectories for quadrotor swarms. Existing approaches rely on linearizing Euclidean distance-based collision constraints and on axis-wise…
The rapid development of unmanned aerial vehicles (UAV) puts forward a higher requirement for autonomous obstacle avoidance. Due to the limited payload and power supply, small UAVs such as quadrotors usually carry simple sensors and…
Conventional quadrotors received great attention in trajectory design and fault-tolerant control in these years. The direction of each thrust is perpendicular to the body because of the geometrics in mechanical design. Comparing with the…
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…
We present a novel framework demonstrating zero-shot sim-to-real transfer of visual control policies learned in a Neural Radiance Field (NeRF) environment for quadrotors to fly through racing gates. Robust transfer from simulation to real…
FlightGoggles is a photorealistic sensor simulator for perception-driven robotic vehicles. The key contributions of FlightGoggles are twofold. First, FlightGoggles provides photorealistic exteroceptive sensor simulation using graphics…
We present a multirotor architecture capable of aggressive autonomous flight and collision-free teleoperation in unstructured, GPS-denied environments. The proposed system enables aggressive and safe autonomous flight around clutter by…
Rapid aerial grasping through robots can lead to many applications that utilize fast and dynamic picking and placing of objects. Rigid grippers traditionally used in aerial manipulators require high precision and specific object geometries…
This paper describes the synthesis and evaluation of a novel state estimator for a Quadrotor Micro Aerial Vehicle. Dynamic equations which relate acceleration, attitude and the aero-dynamic propeller drag are encapsulated in an extended…
The problem of safety for robotic systems has been extensively studied. However, little attention has been given to security issues for three-dimensional systems, such as quadrotors. Malicious adversaries can compromise robot sensors and…
Agile flights of autonomous quadrotors in cluttered environments require constrained motion planning and control subject to translational and rotational dynamics. Traditional model-based methods typically demand complicated design and heavy…
The main motivation of this work is to propose a simulation approach for a specific task within the Unmanned Aerial Vehicle (UAV) field, i.e., the visual detection and tracking of arbitrary moving objects. In particular, it is described…
Humans are remarkably data-efficient when adapting to new unseen conditions, like driving a new car. In contrast, modern robotic control systems, like neural network policies trained using Reinforcement Learning (RL), are highly specialized…