Related papers: Quadrotor Formation Flying Resilient to Abrupt Veh…

Autonomous missions of small unmanned aerial vehicles (UAVs) are prone to collisions owing to environmental disturbances and localization errors. Consequently, a UAV that can endure collisions and perform recovery control in critical aerial…

This paper presents a reinforcement learning-based quadrotor navigation method that leverages efficient differentiable simulation, novel loss functions, and privileged information to navigate around large obstacles. Prior learning-based…

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…

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,…

The Roller-Quadrotor is a novel quadrotor that combines the maneuverability of aerial drones with the endurance of ground vehicles. This work focuses on the design, modeling, and experimental validation of the Roller-Quadrotor. Flight…

Collision detection and recovery for aerial robots remain a challenge because of the limited space for sensors and local stability of the flight controller. We introduce a novel collision-resilient quadrotor that features a compliant arm…

Optical flow captures the motion of pixels in an image sequence over time, providing information about movement, depth, and environmental structure. Flying insects utilize this information to navigate and avoid obstacles, allowing them to…

Obstacle avoidance is a fundamental vision-based task essential for enabling quadrotors to perform advanced applications. When planning the trajectory, existing approaches both on optimization and learning typically regard quadrotor as a…

We demonstrate the capabilities of an attention-based end-to-end approach for high-speed vision-based quadrotor obstacle avoidance in dense, cluttered environments, with comparison to various state-of-the-art learning architectures.…

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 ability to perform aggressive movements, which are called aggressive flights, is important for quadrotors during navigation. However, aggressive quadrotor flights are still a great challenge to practical applications. The existing…

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…

The widespread adoption of quadrotors for diverse applications, from agriculture to public safety, necessitates an understanding of the aerodynamic disturbances they create. This paper introduces a computationally lightweight model for…

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…

With the advent of intelligent transport, quadrotors are becoming an attractive solution while lifting or dropping payloads during emergency evacuations, construction works, etc. During such operations, dynamic variations in (possibly…

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…

Quadrotors have demonstrated remarkable versatility, yet their full aerobatic potential remains largely untapped due to inherent underactuation and the complexity of aggressive maneuvers. Traditional approaches, separating trajectory…

In this paper, we introduce a complete system for autonomous flight of quadrotors in dynamic environments with onboard sensing. Extended from existing work, we develop an occlusion-aware dynamic perception method based on depth images,…

The rapid development of unmanned aerial vehicles (UAV) puts forward a higher requirement for autonomous obstacle avoidance. Due to the limited payload and power supply, small UAVs such as quadrotors usually carry simple sensors and…

In this paper, we present a method to control a quadrotor with a neural network trained using reinforcement learning techniques. With reinforcement learning, a common network can be trained to directly map state to actuator command making…