Related papers: Data-Driven MPC for Quadrotors
Flying robots such as the quadrotor could provide an efficient approach for medical treatment or sensor placing of wild animals. In these applications, continuously targeting the moving animal is a crucial requirement. Due to the…
Model predictive control is a powerful tool to generate complex motions for robots. However, it often requires solving non-convex problems online to produce rich behaviors, which is computationally expensive and not always practical in real…
Ensuring safety and adapting to the user's behavior are of paramount importance in physical human-robot interaction. Thus, incorporating elastic actuators in the robot's mechanical design has become popular, since it offers intrinsic…
Designing controllers under uncertainty requires balancing the need to explore system dynamics with the requirement to maintain reliable control performance. Dual control addresses this challenge by selecting actions that both regulate the…
Accurate modeling of aerodynamic loads is essential for understanding and predicting the responses of complex structural systems. However, these models often rely on simplifications of the true physical forces, introducing assumptions that…
Nonlinear dynamical effects are crucial to the operation of many agile robotic systems. Koopman-based model learning methods can capture these nonlinear dynamical system effects in higher dimensional lifted bilinear models that are amenable…
This paper provides new results for control of complex flight maneuvers for a quadrotor unmanned aerial vehicle (UAV). The flight maneuvers are defined by a concatenation of flight modes or primitives, each of which is achieved by a…
This paper provides new results for a robust adaptive tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid…
We address one of the main challenges towards autonomous quadrotor flight in complex environments, which is flight through narrow gaps. While previous works relied on off-board localization systems or on accurate prior knowledge of the gap…
We propose a model predictive control approach for autonomous vehicles that exploits learned Gaussian processes for predicting human driving behavior. The proposed approach employs the uncertainty about the GP's prediction to achieve…
A major challenge in autonomous flights is unknown disturbances, which can jeopardize safety and lead to collisions, especially in obstacle-rich environments. This paper presents a disturbance-aware motion planning and control framework…
Flight dynamics involve uncertainties in parameters, aerodynamic derivatives, and engine thrust. These uncertainties can be categorized into three types: known-predictable, known-unpredictable, and unknown. While advanced control systems…
This work addresses the practical problem of distributed formation tracking control of a group of quadrotor vehicles in a relaxed sensing graph topology with a very limited sensor set, where only one leader vehicle can access the global…
The mechanical simplicity, hover capabilities, and high agility of quadrotors lead to a fast adaption in the industry for inspection, exploration, and urban aerial mobility. On the other hand, the unstable and underactuated dynamics of…
An omnidirectional multirotor has the maneuverability of decoupled translational and rotational motions, superseding the traditional multirotors' motion capability. Such maneuverability is achieved due to the ability of the omnidirectional…
Event cameras are a promising candidate to enable high speed vision-based control due to their low sensor latency and high temporal resolution. However, purely event-based feedback has yet to be used in the control of drones. In this work,…
This paper presents a constraint-aware control framework for underactuated aerial manipulators, enabling accurate end-effector trajectory tracking while explicitly accounting for safety and feasibility constraints. The control problem is…
Tiny aerial robots hold great promise for applications such as environmental monitoring and search-and-rescue, yet face significant control challenges due to limited onboard computing power and nonlinear dynamics. Model Predictive Control…
Established techniques for simulation and prediction with Gaussian process (GP) dynamics often implicitly make use of an independence assumption on successive function evaluations of the dynamics model. This can result in significant error…
The safe operation of quadrotors in near-wall urban or indoor environments (e.g., inspection and search-and-rescue missions) is challenged by unmodeled aerodynamic effects arising from wall-proximity. It generates complex vortices that…