Related papers: Geometry Aware NMPC Scheme for Morphing Quadrotor …
This paper presents the design, implementation, and flight test results of two novel 3D path-following guidance algorithms based on nonlinear model predictive control (MPC), with specific application to fixed-wing small uncrewed aircraft…
In this work, a novel, end-to-end motion planning method is proposed for quadrotor navigation in cluttered environments. The proposed method circumvents the explicit sensing-reconstructing-planning in contrast to conventional navigation…
Collision avoidance is a widely investigated topic in robotic applications. When applying collision avoidance techniques to a mobile robot, how to deal with the spatial structure of the robot still remains a challenge. In this paper, we…
Quadrotor Morpho-Transition, or the act of transitioning from air to ground through mid-air transformation, involves complex aerodynamic interactions and a need to operate near actuator saturation, complicating controller design. In recent…
For quadrotors, achieving safe and autonomous flight in complex environments with wind disturbances and dynamic obstacles still faces significant challenges. Most existing methods address wind disturbances in either trajectory planning or…
Modern high-performance combat aircraft exceed conventional flight-envelope limits on maneuverability through the use of thrust vectoring, and so achieve supermaneuverability. With ongoing development of biomimetic unmanned aerial vehicles…
The recent increase in data availability and reliability has led to a surge in the development of learning-based model predictive control (MPC) frameworks for robot systems. Despite attaining substantial performance improvements over their…
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…
Non-linear model predictive control (nMPC) is a powerful approach to control complex robots (such as humanoids, quadrupeds, or unmanned aerial manipulators (UAMs)) as it brings important advantages over other existing techniques. The…
Recent advances in quadrupedal locomotion have focused on improving stability and performance across diverse environments. However, existing methods often lack adequate safety analysis and struggle to adapt to varying payloads and complex…
The growing potential of quadcopters in various domains, such as aerial photography, search and rescue, and infrastructure inspection, underscores the need for real-time control under strict safety and operational constraints. This…
Autonomous flight of micro air vehicles (MAVs) in unknown, cluttered environments remains challenging for time-critical missions due to conservative maneuvering strategies. This article presents an integrated planning and control framework…
In this brief, a model-free adaptive predictive control (MFAPC) is proposed. It outperforms the current model-free adaptive control (MFAC) for not only solving the time delay problem in multiple-input multiple-output (MIMO) systems but also…
We demonstrate the capabilities of an attention-based end-to-end approach for high-speed vision-based quadrotor obstacle avoidance in dense, cluttered environments, with comparison to various state-of-the-art learning architectures.…
Omnidirectional micro aerial vehicles (OMAVs) are more capable of doing environmentally interactive tasks due to their ability to exert full wrenches while maintaining stable poses. However, OMAVs often incorporate additional actuators and…
The utilisation of unmanned aerial vehicles has witnessed significant growth in real-world applications including surveillance tasks, military missions, and transportation deliveries. This letter investigates practical problems of formation…
In this paper, we present a decentralized control approach based on a Nonlinear Model Predictive Control (NMPC) method that employs barrier certificates for safe navigation of multiple nonholonomic wheeled mobile robots in unknown…
Performing rescuing and surveillance operations with autonomous ground and aerial vehicles become more and more apparent task. Involving unmanned robot systems allows making these operations more efficient, safe and reliable especially in…
Autonomous navigation in unknown environments with obstacles remains challenging for micro aerial vehicles (MAVs) due to their limited onboard computing and sensing resources. Although various collision avoidance methods have been…
Morphing aerial robots have the potential to transform autonomous flight, enabling navigation through cluttered environments, perching, and seamless transitions between aerial and terrestrial locomotion. Yet mid-flight reconfiguration…