Related papers: SEAL: Safety Enhanced Trajectory Planning and Cont…
Efficient and safe trajectory planning plays a critical role in the application of quadrotor unmanned aerial vehicles. Currently, the inherent trade-off between constraint compliance and computational efficiency enhancement in UAV…
This paper presents a new adaptive sliding mode control (SMC) framework for quadrotors that achieves robust and agile flight under tight computational constraints. The proposed controller addresses key limitations of prior SMC formulations,…
Quadrotors are agile. Unlike most other machines, they can traverse extremely complex environments at high speeds. To date, only expert human pilots have been able to fully exploit their capabilities. Autonomous operation with on-board…
When deploying autonomous systems in unknown and changing environments, it is critical that their motion planning and control algorithms are computationally efficient and can be reapplied online in real time, whilst providing theoretical…
Safe flight in dynamic environments requires unmanned aerial vehicles (UAVs) to make effective decisions when navigating cluttered spaces with moving obstacles. Traditional approaches often decompose decision-making into hierarchical…
This paper develops and experimentally evaluates a navigation function for quadrotor formation flight that is resilient to abrupt quadrotor failures and other obstacles. The navigation function is based on modeling healthy quadrotors as…
This paper presents a framework for controlled emergency landing of a quadcopter, experiencing a rotor failure, away from sensitive areas. A complete mathematical model capturing the dynamics of the system is presented that takes the…
In this paper, an adaptive super-twisting controller is designed for an agile maneuvering quadrotor unmanned aerial vehicle to achieve accurate trajectory tracking in the presence of external disturbances. A cascaded control architecture is…
This paper presents a round-trip strategy of multirotors subject to unknown flow disturbances. During the outbound flight, the vehicle immediately utilizes the wind disturbance estimations in feedback control, as an attempt to reduce the…
This paper presents an aggressive trajectory tracking method for a small lightweight nano-quadrotor using nonlinear model predictive control (NMPC) based on acados. Controlling a nano quadrotor for accurate trajectory tracking at high speed…
In this paper, we introduce a complete system for autonomous flight of quadrotors in dynamic environments with onboard sensing. Extended from existing work, we develop an occlusion-aware dynamic perception method based on depth images,…
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…
Fast and safe navigation of dynamical systems through a priori unknown cluttered environments is vital to many applications of autonomous systems. However, trajectory planning for autonomous systems is computationally intensive, often…
This paper presents a geometric adaptive control scheme for a quadrotor unmanned aerial vehicle, where the effects of unknown, unstructured disturbances are mitigated by a multilayer neural network that is adjusted online. The stability of…
Accurate trajectory tracking control for quadrotors is essential for safe navigation in cluttered environments. However, this is challenging in agile flights due to nonlinear dynamics, complex aerodynamic effects, and actuation constraints.…
Swarm aerial robots are required to maintain close proximity to successfully traverse narrow areas in cluttered environments. However, this movement is affected by the downwash effect generated from other quadrotors in the swarm. This…
This article proposes a modular optimal control framework for local three-dimensional ellipsoidal obstacle avoidance, exemplarily applied to model predictive path-following control. Static as well as moving obstacles are considered. Central…
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…
Nonlinear Model Predictive Control (NMPC) is widely used for controlling high-speed robotic systems such as quadrotors. However, its significant computational demands often hinder real-time feasibility and reliability, particularly in…
Online trajectory planners enable quadrotors to safely and smoothly navigate in unknown cluttered environments. However, tuning parameters is challenging since modern planners have become too complex to mathematically model and predict…