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Quadrotors can provide services such as infrastructure inspection and search-and-rescue, which require operating autonomously in cluttered environments. Autonomy is typically achieved with receding-horizon planning, where a short plan is…
We present a distributed control strategy for a team of quadrotors to autonomously achieve a desired 3D formation. Our approach is based on local relative position measurements and does not require global position information or…
Quadrotors with large thrust-to-weight ratios are able to track aggressive trajectories with sharp turns and high accelerations. In this work, we develop a search-based trajectory planning approach that exploits the quadrotor…
On construction sites, progress must be monitored continuously to ensure that the current state corresponds to the planned state in order to increase efficiency, safety and detect construction defects at an early stage. Autonomous mobile…
In this paper, we propose a robust and efficient quadrotor motion planning system for fast flight in 3-D complex environments. We adopt a kinodynamic path searching method to find a safe, kinodynamic feasible and minimum-time initial…
The paper solves the problem of tracking control of a quadrotor with unmeasurable pitch and roll angles based on the geometric approach with the use of the enhanced extended observer and the internal model. The proposed approach makes it…
In recent years, using drone, also known as unmanned aerial vehicle (UAV), in close-distance visual inspection has became an active area in many disciplines. However, many challenges still remain before we can achieve autonomous inspection,…
A complete model of the motion of a quadcopter along a smooth spatial trajectory is presented. Based on the model, a robust algorithm is proposed for controlling a quadcopter using measurements of linear coordinates and yaw angle. By…
This paper focuses on developing a bearings-only measurement-based three-dimensional window traversal guidance method for quadrotor Uninhabitated Aerial Vehicles (UAVs). The desired flight path and heading angles of the quadrotor are…
One of the keys to flying quadrotors is to optimize their trajectories within the set of collision-free corridors. These corridors impose nonconvex constraints on the trajectories, making real-time trajectory optimization challenging. We…
We describe a method for formation-change trajectory planning for large quadrotor teams in obstacle-rich environments. Our method decomposes the planning problem into two stages: a discrete planner operating on a graph representation of the…
In real world scenarios, due to environmental or hardware constraints, the quadrotor is forced to navigate in pure inertial navigation mode while operating indoors or outdoors. To mitigate inertial drift, end-to-end neural network…
The recent works on quadrotor have focused on more and more challenging tasks on increasingly complex systems. Systems are often augmented with slung loads, inverted pendulums or arms, and accomplish complex tasks such as going through a…
This work presents a LiDAR-based quadrotor system for slope inspection in dense vegetation environments. Cities like Hong Kong are vulnerable to climate hazards, which often result in landslides. To mitigate the landslide risks, the Civil…
High performance trajectory tracking control of quadrotor vehicles is an important challenge in aerial robotics. Symmetry is a fundamental property of physical systems and offers the potential to provide a tool to design high-performance…
We propose an algorithm for generating minimum-snap trajectories for quadrotors with linear computational complexity with respect to the number of segments in the spline trajectory. Our algorithm is numerically stable for large numbers of…
In practical applications, autonomous quadrotors are still facing significant challenges, such as the detection and avoidance of very small and even dynamic obstacles (e.g., tree branches, power lines). In this paper, we propose a compact,…
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…
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…
A flight trajectory defines how exactly a quadrocopter moves in the three-dimensional space from one position to another. Automatic flight trajectory planning faces challenges such as high computational effort and a lack of precision.…