Related papers: Black-Box System Identification for Low-Cost Quadr…
High speed navigation through unknown environments is a challenging problem in robotics. It requires fast computation and tight integration of all the subsystems on the robot such that the latency in the perception-action loop is as small…
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…
Recently non-linear control methods like Model Predictive Control (MPC) and Reinforcement Learning (RL) have attracted increased interest in the quadrotor control community. In contrast to classic control methods like cascaded PID…
With the advent of intelligent transport, quadrotors are becoming an attractive solution while lifting or dropping payloads during emergency evacuations, construction works, etc. During such operations, dynamic variations in (possibly…
Accurate modeling of system dynamics is crucial for achieving high-performance planning and control of robotic systems. Although existing data-driven approaches represent a promising approach for modeling dynamics, their accuracy is limited…
Though control algorithms for multirotor Unmanned Air Vehicle (UAV) are well understood, the configuration, parameter estimation, and tuning of flight control algorithms takes quite some time and resources. In previous work, we have shown…
Flying quadrotors in tight formations is a challenging problem. It is known that in the near-field airflow of a quadrotor, the aerodynamic effects induced by the propellers are complex and difficult to characterize. Although machine…
The rapid development of unmanned aerial vehicles (UAV) puts forward a higher requirement for autonomous obstacle avoidance. Due to the limited payload and power supply, small UAVs such as quadrotors usually carry simple sensors and…
We present the first static-obstacle avoidance method for quadrotors using just an onboard, monocular event camera. Quadrotors are capable of fast and agile flight in cluttered environments when piloted manually, but vision-based autonomous…
To effectively control complex dynamical systems, accurate nonlinear models are typically needed. However, these models are not always known. In this paper, we present a data-driven approach based on Gaussian processes that learns models of…
Recent quadrotors have transcended conventional designs, emphasizing more on foldable and reconfigurable bodies. The state of the art still focuses on the mechanical feasibility of such designs with limited discussions on the tracking…
Collision detection and recovery for aerial robots remain a challenge because of the limited space for sensors and local stability of the flight controller. We introduce a novel collision-resilient quadrotor that features a compliant arm…
We propose a convex optimization procedure for black-box identification of nonlinear state-space models for systems that exhibit stable limit cycles (unforced periodic solutions). It extends the "robust identification error" framework in…
This paper describes dynamic system identification, and full control of a cost-effective vertical take-off and landing (VTOL) multi-rotor micro-aerial vehicle (MAV) --- DJI Matrice 100. The dynamics of the vehicle and autopilot controllers…
We address one of the main challenges towards autonomous quadrotor flight in complex environments, which is flight through narrow gaps. While previous works relied on off-board localization systems or on accurate prior knowledge of the gap…
Multivariable parametric models are essential for optimizing the performance of high-tech systems. The main objective of this paper is to develop an identification strategy that provides accurate parametric models for complex multivariable…
Unmanned Aerial Vehicle (UAV) quadrotor is a UAV with four rotors. The quadrotor control is a difficult task because the four-wheel system is inefficient. The purpose of this paper is to provide specifications and implement a separate quad…
A rotorcraft-based unmanned aerial vehicle exhibits more complex properties compared to its full-size counterparts due to its increased sensitivity to control inputs and disturbances and higher bandwidth of its dynamics. As an aerial…
Automated driving applications require accurate vehicle specific models to precisely predict and control the motion dynamics. However, modern vehicles have a wide array of digital and mechatronic components that are difficult to model,…
Understanding and controlling engineered quantum systems is key to developing practical quantum technology. However, given the current technological limitations, such as fabrication imperfections and environmental noise, this is not always…