Related papers: Model Predictive Path-Following Control for a Quad…
Payload grasping and transportation with quadcopters is an active research area that has rapidly developed over the last decade. To grasp a payload without human interaction, most state-of-the-art approaches apply robotic arms that are…
This work addresses the practical problem of distributed formation tracking control of a group of quadrotor vehicles in a relaxed sensing graph topology with a very limited sensor set, where only one leader vehicle can access the global…
This work presents a novel framework for the formation control of multiple autonomous ground vehicles in an on-road environment. Unique challenges of this problem lie in 1) the design of collision avoidance strategies with obstacles and…
In recent times, reinforcement learning has produced baffling results when it comes to performing control tasks with highly non-linear systems. The impressive results always outweigh the potential vulnerabilities or uncertainties associated…
A complete model of the motion of a quadcopter along a smooth spatial trajectory is presented. Based on the model, a robust algorithm is proposed for controlling a quadcopter using measurements of linear coordinates and yaw angle. By…
This paper introduces a control architecture for real-time and onboard control of Unmanned Aerial Vehicles (UAVs) in environments with obstacles using the Model Predictive Path Integral (MPPI) methodology. MPPI allows the use of the full…
This paper develops computationally efficient data-driven model predictive control (MPC) for Agile quadrotor flight. Agile quadrotors in high-speed flights can experience high levels of aerodynamic effects. Modeling these turbulent…
Robots and automated systems are increasingly being introduced to unknown and dynamic environments where they are required to handle disturbances, unmodeled dynamics, and parametric uncertainties. Robust and adaptive control strategies are…
This work presents DMPC (Data-and Model-Driven Predictive Control) to solve control problems in which some of the constraints or parts of the objective function are known, while others are entirely unknown to the controller. It is assumed…
The paper proposes two control methods for performing a backflip maneuver with miniature quadcopters. First, an existing feedforward control approach is improved by finding the optimal sequence of motion primitives via Bayesian…
Recently, Model Predictive Path Integral (MPPI) control algorithm has been extensively applied to autonomous navigation tasks, where the cost map is mostly assumed to be known and the 2D navigation tasks are only performed. In this paper,…
This paper presents a novel approach to motion planning for two-wheeled drones that can drive on the ground and fly in the air. Conventional methods for two-wheeled drone motion planning typically rely on gradient-based optimization and…
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…
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…
Legged robots can traverse challenging terrain, use perception to plan their safe foothold positions, and navigate the environment. Such unique mobility capabilities make these platforms a perfect candidate for scenarios such as search and…
To properly simulate and implement a quadcopter flight control for intended load and flight conditions, the quadcopter model must have parameters on various relationships including propeller thrust-torque, thrust-PWM, and thrust--angular…
In this work, we consider the problem of deriving and incorporating accurate dynamic models for model predictive control (MPC) with an application to quadrotor control. MPC relies on precise dynamic models to achieve the desired closed-loop…
In this paper, we present a distributed optimal multiagent control scheme for quadrotor formation tracking under localization errors. Our control architecture is based on a leader-follower approach, where a single leader quadrotor tracks a…
To efficiently deploy robotic systems in society, mobile robots must move autonomously and safely through complex environments. Nonlinear model predictive control (MPC) methods provide a natural way to find a dynamically feasible trajectory…
This paper tackles the multi-objective optimization of the cost functional of a path-following model predictive control for vehicle longitudinal and lateral control. While the inherent optimal character of the model predictive control and…