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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…

This paper presents a new fast and robust algorithm that provides fuel-optimal impulsive control input sequences that drive a linear time-variant system to a desired state at a specified time. This algorithm is applicable to a broad class…

Over the past decade, there has been a remarkable surge in utilizing quadrotors for various purposes due to their simple structure and aggressive maneuverability, such as search and rescue, delivery and autonomous drone racing, etc. One of…

The increasing popularity of quadrotors has given rise to a class of predominantly vision-driven vehicles. This paper addresses the problem of perception-aware time optimal path parametrization for quadrotors. Although many different…

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…

Artificial time delay controller was conceptualised for nonlinear systems to reduce dependency on precise system modelling unlike the conventional adaptive and robust control strategies. In this approach unknown dynamics is compensated by…

This paper presents a controller design and optimization framework for nonlinear dynamic systems to track a given reference signal in the presence of disturbances when the task is repeated over a finite-time interval. This novel framework…

Reinforcement learning (RL)-based quadrotor control policies have achieved impressive performance in tasks such as fast navigation in cluttered environments and drone racing, where the focus is on speed and agility. However, in several…

This paper introduces a generalization of the well-known Riccati recursion for solving the discrete-time equality-constrained linear quadratic optimal control problem. The recursion can be used to compute the solutions as well as optimal…

Unpredictable and complex aerodynamic effects pose significant challenges to achieving precise flight control, such as the downwash effect from upper vehicles to lower ones. Conventional methods often struggle to accurately model these…

Quadrotors are agile. Unlike most other machines, they can traverse extremely complex environments at high speeds. To date, only expert human pilots have been able to fully exploit their capabilities. Autonomous operation with on-board…

Series elastic robots are best able to follow trajectories which obey the limitations of their actuators, since they cannot instantly change their joint forces. In fact, the performance of series elastic actuators can surpass that of ideal…

Overcoming robotics challenges in the real world requires resilient control systems capable of handling a multitude of environments and unforeseen events. Evolutionary optimization using simulations is a promising way to automatically…

This paper presents a new technique to control highly redundant mechanical systems, such as humanoid robots. We take inspiration from two approaches. Prioritized control is a widespread multi-task technique in robotics and animation: tasks…

This paper studies real-time motion planning and control for ball bumping motion with quadruped robots. To enable the quadruped to bump the flying ball with different initializations, we develop a nonlinear trajectory optimization-based…

Controller performance in quadrotor trajectory tracking depends heavily on parameter tuning, yet standard approaches often rely on fixed, manually tuned parameters that sacrifice task-specific performance. We present Trajectory-Aware…

This work presents a novel algorithm for impulsive optimal control of linear time-varying systems with the inclusion of input magnitude constraints. Impulsive optimal control problems, where the optimal input solution is a sum of delta…

This paper presents a new adaptive sliding mode control (SMC) framework for quadrotors that achieves robust and agile flight under tight computational constraints. The proposed controller addresses key limitations of prior SMC formulations,…

Flying insects can perform rapid, sophisticated maneuvers like backflips, sharp banked turns, and in-flight collision recovery. To emulate these in aerial robots weighing less than a gram, known as flying insect robots (FIRs), a fast and…

We present a method for providing statistical guarantees on runtime safety and goal reachability for integrated planning and control of a class of systems with unknown nonlinear stochastic underactuated dynamics. Specifically, given a…