Related papers: Guidance & Control Networks for Time-Optimal Quadc…

Quadcopter attitude control involves two tasks: smooth attitude tracking and aggressive stabilization from arbitrary states. Although both can be formulated as tracking problems, their distinct state spaces and control strategies complicate…

This work is devoted to generating optimal guidance commands in real time for attitude-constrained solar sailcrafts in coplanar circular-to-circular interplanetary transfers. Firstly, a nonlinear optimal control problem is established, and…

Linear dynamical systems that obey stochastic differential equations are canonical models. While optimal control of known systems has a rich literature, the problem is technically hard under model uncertainty and there are hardly any…

Autonomous drone racing presents a challenging control problem, requiring real-time decision-making and robust handling of nonlinear system dynamics. While iterative learning model predictive control (LMPC) offers a promising framework for…

This paper considers the problem of reachability analysis of control systems with optimal controllers, as a first step towards verifying the safety and correctness of such systems. Despite their appeal in guaranteeing task satisfaction…

We consider trajectory optimal control problems in which parameter uncertainty limits the applicability of control trajectories computed prior to travel. Hence, efficient trajectory adjustment is needed to ensure successful travel. However,…

Multicopters are among the most versatile mobile robots. Their applications range from inspection and mapping tasks to providing vital reconnaissance in disaster zones and to package delivery. The range, endurance, and speed a multirotor…

For intelligent quadcopter UAVs, a robust and reliable autonomous planning system is crucial. Most current trajectory planning methods for UAVs are suitable for static environments but struggle to handle dynamic obstacles, which can pose…

We study the optimal control of propagation of packets in delay tolerant mobile ad-hoc networks. We consider a two-hop forwarding policy under which the expected number of nodes carrying copies of the packets obeys a linear dynamics. We…

Time-critical tasks such as drone racing typically cover large operation areas. However, it is difficult and computationally intensive for current time-optimal motion planners to accommodate long flight distances since a large yet unknown…

Controllability, a basic property of various networked systems, has gained profound theoretical applications in complex social, technological, biological, and brain networks. Yet, little attention has been given to the control trajectory…

Autonomous indoor navigation of Micro Aerial Vehicles (MAVs) possesses many challenges. One main reason is that GPS has limited precision in indoor environments. The additional fact that MAVs are not able to carry heavy weight or power…

This paper proposes a geometric adaptive controller for a quadrotor unmanned aerial vehicle with artificial neural networks. It is assumed that the dynamics of a quadrotor is disturbed by arbitrary, unstructured forces and moments caused by…

We consider the Earth-Venus mass-optimal interplanetary transfer of a low-thrust spacecraft and show how the optimal guidance can be represented by deep networks in a large portion of the state space and to a high degree of accuracy.…

We explore the reinforcement learning approach to designing controllers by extensively discussing the case of a quadcopter attitude controller. We provide all details allowing to reproduce our approach, starting with a model of the dynamics…

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…

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…

Aerial robots can enhance their safe and agile navigation in complex and cluttered environments by efficiently exploiting the information collected during a given task. In this paper, we address the learning model predictive control problem…

We tackle the problem of planning a minimum-time trajectory for a quadrotor over a sequence of specified waypoints in the presence of obstacles while exploiting the full quadrotor dynamics. This problem is crucial for autonomous search and…

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…