Related papers: Differential Flatness-based Fast Trajectory Planni…
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…
This paper proposes a novel algorithm for aerobatic trajectory generation for a vertical take-off and landing (VTOL) tailsitter flying wing aircraft. The algorithm differs from existing approaches for fixed-wing trajectory generation, as it…
Given the evolving application scenarios of current fixed-wing unmanned aerial vehicles (UAVs), it is necessary for UAVs to possess agile and rapid 3-dimensional flight capabilities. Typically, the trajectory of a tail-sitter is generated…
Unmanned surface vessels (USVs) are widely used in ocean exploration and environmental protection fields. To ensure that USV can successfully perform its mission, trajectory planning and motion tracking are the two most critical…
This paper demonstrates a refined approach to solving dynamic optimization problems for underactuated marine surface vessels. To this end the differential flatness of a mathematical model assuming full actuation is exploited to derive an…
As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…
Aircraft failures alter dynamics, diminishing manoeuvrability. Such manoeuvring flight envelope variations, governed by the aircraft's complex nonlinear dynamics, are unpredictable by pilots and existing flight management systems. To…
Differential drive robots are widely used in various scenarios thanks to their straightforward principle, from household service robots to disaster response field robots. There are several types of driving mechanisms for real-world…
Most commercially available fixed-wing aerial vehicles (FWV) can carry only small, lightweight computing hardware such as Jetson TX2 onboard. Solving non-linear trajectory optimization on these computing resources is computationally…
In this paper, we describe a robust multi-drone planning framework for high-speed trajectories in large scenes. It uses a free-space-oriented map to free the optimization from cumbersome environment data. A capsule-like safety constraint is…
Optimal collision-free formation control of the unmanned aerial vehicle (UAV) is a challenge. The state-of-the-art optimal control approaches often rely on numerical methods sensitive to initial guesses. This paper presents an innovative…
This paper proposes several nonlinear control strategies for trajectory tracking of a quadcopter system based on the property of differential flatness. Its originality is twofold. Firstly, it provides a flat output for the quadcopter…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
We address the theoretical and practical problems related to the trajectory generation and tracking control of tail-sitter UAVs. Theoretically, we focus on the differential flatness property with full exploitation of actual UAV aerodynamic…
Fixed-wing unmanned aerial vehicles (UAVs) offer significant performance advantages over rotary-wing UAVs in terms of speed, endurance, and efficiency. However, these vehicles have traditionally been severely limited with regards to…
This paper addresses the problem of trajectory optimization for an unmanned surface vehicle while considering direction-dependent ocean currents and flexible refueling constraints. This work is motivated by the rising interest in developing…
Learning-based control techniques use data from past trajectories to control systems with uncertain dynamics. However, learning-based controllers are often computationally inefficient, limiting their practicality. To address this…
In this paper, we propose an effective unified control law for accurately tracking agile trajectories for lifting-wing quadcopters with different installation angles, which have the capability of vertical takeoff and landing (VTOL) as well…
This paper presents an optimal trajectory generation method for 3D overhead cranes by leveraging differential flatness. This framework enables the direct inclusion of complex physical and dynamic constraints, such as nonlinear friction and…
This paper presents a novel algorithm to plan energy-efficient trajectories for autonomous ornithopters. In general, trajectory optimization is quite a relevant problem for practical applications with \emph{Unmanned Aerial Vehicles} (UAVs).…