Related papers: Octocopter Design: Modelling, Control and Motion P…
We present a navigation system that combines ideas from hierarchical planning and machine learning. The system uses a traditional global planner to compute optimal paths towards a goal, and a deep local trajectory planner and velocity…
We present a modular framework for solving a motion planning problem among a group of robots. The proposed framework utilizes a finite set of low level motion primitives to generate motions in a gridded workspace. The constraints on…
Multicopters with collision-resilient designs can operate with trajectories involving collisions. This paper presents a sampling-based method that can exploit collisions for better motion planning. The method is built upon the basis of the…
This work presents the coordinated motion control and obstacle-crossing problem for the four wheel-leg independent motor-driven robotic systems via a model predictive control (MPC) approach based on an event-triggering mechanism. The…
Catching high-speed targets in the flight is a complex and typical highly dynamic task. In this paper, we propose Catch Planner, a planning-with-decision scheme for catching. For sequential decision making, we propose a policy search method…
ROScopter is a lean multirotor autopilot built for researchers. ROScopter seeks to accelerate simulation and hardware testing of research code with an architecture that is both easy to understand and simple to modify. ROScopter is designed…
This paper addresses the design and application controller for a small-size unmanned aerial vehicle (UAV). In this work, the main objective is to study the modeling and attitude controller design for a small size helicopter. Based on a…
Model predictive control (MPC) is an optimal control strategy where control input calculation is based on minimizing the predicted tracking error over a finite horizon that moves with time. This strategy has an advantage over conventional…
Quadcopters have been studied for decades thanks to their maneuverability and capability of operating in a variety of circumstances. However, quadcopters suffer from dynamical nonlinearity, actuator saturation, as well as sensor noise that…
Formation flight is when multiple objects fly together in a coordination. Various automatic control methods have been used for the autonomous execution of formation flight of aerial vehicles. In this paper, the capacity of the model…
High-precision manipulation has always been a developmental goal for aerial manipulators. This paper investigates the kinematic coordinate control issue in aerial manipulators. We propose a predictive kinematic coordinate control method,…
The goal of robust motion planning consists of designing open-loop controls which optimally steer a system to a specific target region while mitigating uncertainties and disturbances which affect the dynamics. Recently, stochastic optimal…
This article focuses on integrating path-planning and control with specializing on the unique needs of robotic unicycles. A unicycle design is presented which is capable of accelerating/breaking and carrying out a variety of maneuvers. The…
Motion planning is an essential element of the modular architecture of autonomous vehicles, serving as a bridge between upstream perception modules and downstream low-level control signals. Traditional motion planners were initially…
Continuous optimization based motion planners require specifying a maneuver class before calculating the optimal trajectory for that class. In traffic, the intentions of other participants are often unclear, presenting multiple maneuver…
Planning and control for autonomous vehicles usually are hierarchical separated. However, increasing performance demands and operating in highly dynamic environments requires an frequent re-evaluation of the planning and tight integration…
This paper investigates the mission planning problem for spacecraft confronting orbital debris to achieve autonomous avoidance. Firstly, combined with the avoidance requirements, a closed-loop framework of autonomous avoidance for orbital…
This paper presents a method for incorporating control analysis into design optimization for highly-maneuverable aircraft. By studying reachable sets for aircraft dynamics, we ensure that the optimizer will take the aircraft's controlled…
We present a motion planning algorithm with probabilistic guarantees for limbed robots with stochastic gripping forces. Planners based on deterministic models with a worst-case uncertainty can be conservative and inflexible to consider the…
When an unmanned system is launched for a mission-critical task, it is required to follow a predetermined path. It means the unmanned system requires a path following algorithm for the completion of the mission. Since the predetermined path…