Related papers: An Efficient Trajectory Generation for Bi-copter F…
Autonomous target tracking with quadrotors has wide applications in many scenarios, such as cinematographic follow-up shooting or suspect chasing. Target motion prediction is necessary when designing the tracking planner. However, the…
We present a fast algorithm for the design of smooth paths (or trajectories) that are constrained to lie in a collection of axis-aligned boxes. We consider the case where the number of these safe boxes is large, and basic preprocessing of…
Autonomous flight of micro air vehicles (MAVs) in unknown, cluttered environments remains challenging for time-critical missions due to conservative maneuvering strategies. This article presents an integrated planning and control framework…
Autonomous drone racing is becoming an excellent platform to challenge quadrotors' autonomy techniques including planning, navigation and control technologies. However, most research on this topic mainly focuses on single drone scenarios.…
This paper introduces a trajectory planning algorithm for search and coverage missions with an Unmanned Aerial Vehicle (UAV) based on an uncertainty map that represents prior knowledge of the target region, modeled by a Gaussian Mixture…
High-speed obstacle avoidance of uncrewed aerial vehicles (UAVs) in cluttered environments is a significant challenge. Existing UAV planning and obstacle avoidance systems can only fly at moderate speeds or at high speeds over empty or…
The goal of this paper is to develop a continuous optimization-based refinement of the reference trajectory to 'push it out' of the obstacle-occupied space in the global phase for Multi-rotor Aerial Vehicles in unknown environments. Our…
This paper considers a class of rotary-wing aerial robots with unaligned propellers. By studying the dynamics of these vehicles, we show that the position and heading angle remain flat outputs of the system (similar to conventional…
Hybrid Flying-Crawling Quadrotors (HyFCQs) are transformable robots with the ability of terrestrial and aerial hybrid motion. This article presents a trajectory planning and tracking framework designed for HyFCQs. In this framework, a…
Efficient real-time trajectory planning and control for fixed-wing unmanned aerial vehicles is challenging due to their non-holonomic nature, complex dynamics, and the additional uncertainties introduced by unknown aerodynamic effects. In…
For aerial swarms, navigation in a prescribed formation is widely practiced in various scenarios. However, the associated planning strategies typically lack the capability of avoiding obstacles in cluttered environments. To address this…
Convex free regions provide a structured and optimization-friendly representation of collision-free space for robot navigation in unknown and cluttered environments. However, existing methods typically enlarge local collision-free regions…
Maintaining a map online is resource-consuming while a robust navigation system usually needs environment abstraction via a well-fused map. In this paper, we propose a mapless planner which directly conducts such abstraction on the unfused…
In this work, we present an approach to planning for humanoid mobility. Humanoid mobility is a challenging problem, as the configuration space for a humanoid robot is intractably large, especially if the robot is capable of performing many…
Recently, there have been numerous advances in the development of biologically inspired lightweight Micro Aerial Vehicles (MAVs). While autonomous navigation is fairly straight-forward for large UAVs as expensive sensors and monitoring…
One of the keys to flying quadrotors is to optimize their trajectories within the set of collision-free corridors. These corridors impose nonconvex constraints on the trajectories, making real-time trajectory optimization challenging. We…
To generate safe and real-time trajectories for an autonomous vehicle in dynamic environments, path and speed decoupled planning methods are often considered. This paper studies speed planning, which mainly deals with dynamic obstacle…
An effective method for optimizing path planning for a specific model of a 6-degree-of-freedom (6-DOF) robot manipulator is presented as part of the motion planning of the manipulator using computer algebra. We assume that we are given a…
Search-based motion planning has been used for mobile robots in many applications. However, it has not been fully developed and applied for planning full state trajectories of Micro Aerial Vehicles (MAVs) due to their complicated dynamics…
This paper presents a novel morphing quadrotor, named MorphoCopter, covering its design, modeling, control, and experimental tests. It features a unique single rotary joint that enables rapid transformation into an ultra-narrow profile.…