Related papers: Exploiting Different Symmetries for Trajectory Tra…
We propose a geometric control framework on $SE(3)$ for quadrotors that enforces pointing-driven missions without completing a full attitude reference. The mission is encoded through virtual constraints defining a task manifold and an…
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…
With the introduction of the laterally bounded forces, the tilt-rotor gains more flexibility in the controller design. Typical feedback linearization methods utilize all the inputs in controlling this vehicle; the magnitudes as well as the…
This work presents a convex optimization framework for the planning and tracking of quadcopter trajectories with continuous-time safety guarantees. Using B-spline basis functions and the differential flatness property of quadcopters, a…
This paper proposes a feedback linearizing law for single-track dynamic models, allowing the design of a trajectory tracking controller exploiting linear control theory. The main characteristics of this algorithm are its simplicity, its…
The continuum deformation leader-follower cooperative control strategy models vehicles in a multi-agent system as particles of a deformable body. A desired continuum deformation is defined based on leaders' trajectories and acquired by…
In this work, we propose a novel quadrotor design capable of folding its arms vertically to grasp objects and navigate through narrow spaces. The transformation is controlled actively by a central servomotor, gears, and racks. The arms…
Robotic imitation learning has achieved impressive success in learning complex manipulation behaviors from demonstrations. However, many existing robot learning methods do not explicitly account for the physical symmetries of robotic…
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…
This paper presents a novel morphing quadrotor, named MorphoCopter, covering its design, modeling, control, and experimental tests. It features a unique single rotary joint that enables rapid transformation into an ultra-narrow profile.…
This paper presents an adaptive, model-based, nonlinear controller for the bicopter trajectory-tracking problem. The nonlinear controller is constructed by dynamically extending the bicopter model, stabilizing the extended dynamics using…
A hierarchical control architecture is presented for energy-efficient control of legged robots subject to variety of linear/nonlinear inequality constraints such as Coulomb friction cones, switching unilateral contacts, actuator saturation…
The capacity to custom tailor the properties of quantum matter and materials is a central requirement for enlarging their range of possible functionalities. A particularly promising route is the use of driving protocols to engineer specific…
This work addresses the problem of robust attitude control of quadcopters. First, the mathematical model of the quadcopter is derived considering factors such as nonlinearity, external disturbances, uncertain dynamics and strong coupling.…
This paper studies a class of complex-valued linear systems whose state evolution dependents on both the state vector and its conjugate. The complex-valued linear system comes from linear dynamical quantum control theory and is also…
The quadrotor task of negotiating aggressive attitude maneuvers while adhering to motor constraints is addressed here. The majority of high level quadrotor Nonlinear Control System (NCS) solutions ignore motor control authority limitations,…
Agile quadrotor flight relies on rapidly planning and accurately tracking time-optimal trajectories, a technology critical to their application in the wild. However, the computational burden of computing time-optimal trajectories based on…
In the paper "Control Design for UAV Quadrotors via Embedded Model Control" [1], the authors designed a complete control unit for a UAV Quadrotor, based on the Embedded Model Control (EMC) methodology, in combination with the Feedback…
Two different aspects of formation control of multiple agents subjected to linear transformation have been addressed in this paper. We consider a set of complex single integrator systems so that the dimension of the system reduces to half…
In this paper we first contribute a large scale online study (N=400) to better understand aesthetic perception of aerial video. The results indicate that it is paramount to optimize smoothness of trajectories across all keyframes. However,…