Related papers: PCMPC: Perception-Constrained Model Predictive Con…

Quadrotors equipped with cable-suspended loads represent a versatile, low-cost, and energy efficient solution for aerial transportation, construction, and manipulation tasks. However, their real-world deployment is hindered by several…

Aerial transportation using quadrotors with cable-suspended payloads holds great potential for applications in disaster response, logistics, and infrastructure maintenance. However, their hybrid and underactuated dynamics pose significant…

Autonomous Micro Aerial Vehicles (MAVs) such as quadrotors equipped with manipulation mechanisms have the potential to assist humans in tasks such as construction and package delivery. Cables are a promising option for manipulation…

This paper introduces a novel methodology for the cooperative control of multiple quadrotors transporting cablesuspended payloads, emphasizing obstacle-aware planning and event-based Nonlinear Model Predictive Control (NMPC). Our approach…

Autonomous Micro Aerial Vehicles (MAVs), particularly quadrotors, have shown significant potential in assisting humans with tasks such as construction and package delivery. These applications benefit greatly from the use of cables for…

We present a perception constrained visual predictive control (PCVPC) algorithm for quadrotors to enable aggressive flights without using any position information. Our framework leverages nonlinear model predictive control (NMPC) to…

We present the first perception-aware model predictive control framework for quadrotors that unifies control and planning with respect to action and perception objectives. Our framework leverages numerical optimization to compute…

Unmanned aerial vehicles (UAVs) with suspended payloads offer significant advantages for aerial transportation in complex and cluttered environments. However, existing systems face critical limitations, including unreliable perception of…

This paper addresses the problem of tracking the position of a cable-suspended payload carried by an unmanned aerial vehicle, with a focus on real-world deployment and minimal hardware requirements. In contrast to many existing approaches…

Model Predictive Control (MPC) is widely adopted for agile multirotor vehicles, yet achieving both stability and obstacle-free flight is particularly challenging when a payload is suspended beneath the airframe. This paper introduces a…

This article studies the collaborative transportation of a cable-suspended pipe by two quadrotors. A force-coordination control scheme is proposed, where a force-consensus term is introduced to average the load distribution between the…

We present a robust control and estimation framework for quadrotors operating in Global Navigation Satellite System(GNSS)-denied, non-inertial environments where inertial sensors such as Inertial Measurement Units (IMUs) become unreliable…

This paper presents a design of oscillation damping control for the cable-Suspended Aerial Manipulator (SAM). The SAM is modeled as a double pendulum, and it can generate a body wrench as a control action. The main challenge is the fact…

Quadrotors can carry slung loads to hard-to-reach locations at high speed. Since a single quadrotor has limited payload capacities, using a team of quadrotors to collaboratively manipulate a heavy object is a scalable and promising…

This work proposes a novel control and estimation approach for aerial manipulation of a cable-suspended load using Unmanned Aerial Vehicles (UAVs). Common approaches in the state of the art have practical limitations, relying on direct load…

This article studies the dynamics and control of a novel underactuated system, wherein a plate suspended by cables and with a freely moving mass on top, whose other ends are attached to three quadrotors, is sought to be horizontally…

Autonomous swarms of multi-Unmanned Aerial Vehicle (UAV) system requires an accurate and fast relative state estimation. Although monocular frame-based camera methods perform well in ideal conditions, they are slow, suffer scale ambiguity,…

Unmanned Aerial Vehicle (UAV) quadrotor is a UAV with four rotors. The quadrotor control is a difficult task because the four-wheel system is inefficient. The purpose of this paper is to provide specifications and implement a separate quad…

Many aerial tasks involving quadrotors demand both instant reactivity and long-horizon planning. High-fidelity models enable accurate control but are too slow for long horizons; low-fidelity planners scale but degrade closed-loop…

Autonomous helicopter landing is a challenging task that requires precise information about the aircraft states regarding the helicopters position, attitude, as well as position of the helipad. To this end, we propose a solution that fuses…