Related papers: Online Whole-body Motion Planning for Quadrotor us…

We present a holistically designed three layer control architecture capable of outperforming a professional driver racing the same car. Our approach focuses on the co-design of the motion planning and control layers, extracting the full…

Planning time-optimal trajectories for quadrotors in cluttered environments is a challenging, non-convex problem. This paper addresses minimizing the traversal time of a given collision-free geometric path without violating bounds on…

Robots operating in households must find objects on shelves, under tables, and in cupboards. In such environments, it is crucial to search efficiently at 3D scale while coping with limited field of view and the complexity of searching for…

This work presents a two part framework for online planning and execution of dynamic aerial motions on a quadruped robot. Motions are planned via a centroidal momentum-based nonlinear optimization that is general enough to produce rich sets…

The robotics community is increasingly interested in autonomous aerial transportation. Unmanned aerial vehicles with suspended payloads have advantages over other systems, including mechanical simplicity and agility, but pose great…

Motion planning algorithms often leverage topological information about the environment to improve planner performance. However, these methods often focus only on the environment's connectivity while ignoring other properties such as…

Reconfigurable multi-robot cells offer a promising approach to meet fluctuating assembly demands. However, the recurrent planning of their configurations introduces new challenges, particularly in generating optimized, coordinated…

It is a significant requirement for a quadrotor trajectory planner to simultaneously guarantee trajectory quality and system lightweight. Many researchers focus on this problem, but there's still a gap between their performance and our…

We tackle the problem of flying time-optimal trajectories through multiple waypoints with quadrotors. State-of-the-art solutions split the problem into a planning task - where a global, time-optimal trajectory is generated - and a control…

This paper presents a systematic approach for computing local solutions to motion planning problems in non-convex environments using numerical optimal control techniques. It extends the range of use of state-of-the-art numerical optimal…

3D coverage path planning for UAVs is a crucial problem in diverse practical applications. However, existing methods have shown unsatisfactory system simplicity, computation efficiency, and path quality in large and complex scenes. To…

Coordinated flight of multiple drones allows to achieve tasks faster such as search and rescue and infrastructure inspection. Thus, pushing the state-of-the-art of aerial swarms in navigation speed and robustness is of tremendous benefit.…

This paper presents a framework for controlled emergency landing of a quadcopter, experiencing a rotor failure, away from sensitive areas. A complete mathematical model capturing the dynamics of the system is presented that takes the…

Multi-robot path planning is difficult due to the combinatorial explosion of the search space with every new robot added. Complete search of the combined state-space soon becomes intractable. In this paper we present a novel form of…

Nonlinear PID control systems for a quadrotor UAV are proposed to follow an attitude tracking command and a position tracking command. The control systems are developed directly on the special Euclidean group to avoid singularities of…

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…

The flying speed of autonomous quadrotors has increased significantly over the past 5 years, particularly in the field of autonomous drone racing. However, most research primarily focuses on the aggressive flight of a single quadrotor,…

In this paper we propose a planner for 3D exploration that is suitable for applications using state-of-the-art 3D sensors such as lidars, which produce large point clouds with each scan. The planner is based on the detection of a frontier -…

With the aim of bridging the gap between high quality reconstruction and mobile robot motion planning, we propose an efficient system that leverages the concept of adaptive-resolution volumetric mapping, which naturally integrates with the…

In this paper we present the PUMP (Parallel Uncertainty-aware Multiobjective Planning) algorithm for addressing the stochastic kinodynamic motion planning problem, whereby one seeks a low-cost, dynamically-feasible motion plan subject to a…