Related papers: Agilicious: Open-Source and Open-Hardware Agile Qu…
Tools for quadrotor trajectory design have enabled single videographers to create complex aerial video shots that previously required dedicated hardware and several operators. We build on this prior work by studying film-maker's working…
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…
In recent years, several progressive works promote the development of aerial tracking. One of the representative works is our previous work Fast-tracker which is applicable to various challenging tracking scenarios. However, it suffers from…
Agile mapless navigation in cluttered 3D environments poses significant challenges for autonomous drones. Conventional mapping-planning-control pipelines incur high computational cost and propagate estimation errors. We present AERO-MPPI, a…
Co-simulation is a critical approach for the design and analysis of complex cyber-physical systems. It will enhance development efficiency and reduce costs. This paper presents a co-simulation framework integrating ROS 2 and MATLAB/Simulink…
This paper develops a data-based moving horizon estimation (MHE) method for agile quadrotors. Accurate state estimation of the system is paramount for precise trajectory control for agile quadrotors; however, the high level of aerodynamic…
Data driven robotics relies upon accurate real-world representations to learn useful policies. Despite our best-efforts, zero-shot sim-to-real transfer is still an unsolved problem, and we often need to allow our agents to explore online to…
Swarm navigation in cluttered environments is a grand challenge in robotics. This work combines deep learning with first-principle physics through differentiable simulation to enable autonomous navigation of multiple aerial robots through…
The quadrotor unmanned aerial vehicle is a great platform for control systems research as its nonlinear nature and under-actuated configuration make it ideal to synthesize and analyze control algorithms. After a brief explanation of the…
Flying robots such as the quadrotor could provide an efficient approach for medical treatment or sensor placing of wild animals. In these applications, continuously targeting the moving animal is a crucial requirement. Due to the…
Autonomous aerospace systems require architectures that balance deterministic real-time control with advanced perception capabilities. This paper presents an integrated system combining NASA's F' flight software framework with ROS2…
Robotic simulators play a crucial role in the development and testing of autonomous systems, particularly in the realm of Uncrewed Aerial Vehicles (UAV). However, existing simulators often lack high-level autonomy, hindering their immediate…
The increasing use of drones in human-centric applications highlights the need for designs that can survive collisions and recover rapidly, minimizing risks to both humans and the environment. We present HoLoArm, a quadrotor with compliant…
The development of autonomous aerial systems, particularly for multi-robot configurations, is a complex challenge requiring multidisciplinary expertise. Unlike ground robotics, aerial robotics has seen limited standardization, leading to…
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…
Agile flight in complex environments poses significant challenges to current motion planning methods, as they often fail to fully leverage the quadrotor dynamic potential, leading to performance failures and reduced efficiency during…
The field of 360-degree omnidirectional understanding has been receiving increasing attention for advancing spatial intelligence. However, the lack of large-scale and diverse data remains a major limitation. In this work, we propose…
The role of a motion planner is pivotal in quadrotor applications, yet existing methods often struggle to adapt to complex environments, limiting their ability to achieve fast, safe, and robust flight. In this letter, we introduce a…
Many aerial tasks involving quadrotors demand both instant reactivity and long-horizon planning. High-fidelity models enable accurate control but are too slow for long horizons; low-fidelity planners scale but degrade closed-loop…
Autonomous Micro Aerial Vehicles are deployed for a variety tasks including surveillance and monitoring. Perching and staring allow the vehicle to monitor targets without flying, saving battery power and increasing the overall mission time…