Related papers: Bubble Planner: Planning High-speed Smooth Quadrot…

We consider the problem of generating a time-optimal quadrotor trajectory that attains a set of prescribed waypoints. This problem is challenging since the optimal trajectory is located on the boundary of the set of dynamically feasible…

Quadrotors are agile flying robots that are challenging to control. Considering the full dynamics of quadrotors during motion planning is crucial to achieving good solution quality and small tracking errors during flight. Optimization-based…

Unmapped areas and aerodynamic disturbances render autonomous navigation with quadrotors extremely challenging. To fly safely and efficiently, trajectory planners and trackers must be able to navigate unknown environments with unpredictable…

We present UrbanFly: an uncertainty-aware real-time planning framework for quadrotor navigation in urban high-rise environments. A core aspect of UrbanFly is its ability to robustly plan directly on the sparse point clouds generated by a…

This paper introduces a collision avoidance system for navigating a multicopter in cluttered outdoor environments based on the recent memory-less motion planner, rectangular pyramid partitioning using integrated depth sensors (RAPPIDS). The…

Flying quadrotors in tight formations is a challenging problem. It is known that in the near-field airflow of a quadrotor, the aerodynamic effects induced by the propellers are complex and difficult to characterize. Although machine…

High-speed legged navigation in discrete and geometrically complex environments is a challenging task because of the high-degree-of-freedom dynamics and long-horizon, nonconvex nature of the optimization problem. In this work, we propose a…

Generating obstacle-free trajectories for robotic manipulators in unstructured and cluttered environments remains a significant challenge. Existing motion planning methods often require additional computational effort to generate the final…

Time-optimal trajectories drive quadrotors to their dynamic limits, but computing such trajectories involves solving non-convex problems via iterative nonlinear optimization, making them prohibitively costly for real-time applications. In…

In many mobile robotics scenarios, such as drone racing, the goal is to generate a trajectory that passes through multiple waypoints in minimal time. This problem is referred to as time-optimal planning. State-of-the-art approaches either…

It is ubiquitously accepted that during the autonomous navigation of the quadrotors, one of the most widely adopted unmanned aerial vehicles (UAVs), safety always has the highest priority. However, it is observed that the ego airflow…

Motion planning for aerial manipulators in constrained environments has typically been limited to known environments or simplified to that of multi-rotors, which leads to poor adaptability and overly conservative trajectories. This paper…

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…

We consider a large-scale multi-robot path planning problem in a cluttered environment. Our approach achieves real-time replanning by dividing the workspace into cells and utilizing a hierarchical planner. Specifically, we propose novel…

Autonomous exploration is a crucial aspect of robotics that has numerous applications. Most of the existing methods greedily choose goals that maximize immediate reward. This strategy is computationally efficient but insufficient for…

This paper presents a novel learning-based trajectory planning framework for quadrotors that combines model-based optimization techniques with deep learning. Specifically, we formulate the trajectory optimization problem as a quadratic…

Autonomous Underwater Vehicles (AUVs) are capable of spending long periods of time for carrying out various underwater missions and marine tasks. In this paper, a novel conflict-free motion planning framework is introduced to enhance…

Online trajectory planners enable quadrotors to safely and smoothly navigate in unknown cluttered environments. However, tuning parameters is challenging since modern planners have become too complex to mathematically model and predict…

Rotor failures in quadrotors may result in high-speed rotation and vibration due to rotor imbalance, which introduces significant challenges for autonomous flight in unknown environments. The mainstream approaches against rotor failures…

We present a hierarchical framework for motion planning of a large collection of agents. The proposed framework starts from low level motion primitives over a gridded workspace and provides a set of rules for constructing higher level…