Related papers: Aggressiveness-Aware Learning-based Control of Qua…
This paper proposes a systematic solution that uses an unmanned aerial vehicle (UAV) to aggressively and safely track an agile target. The solution properly handles the challenging situations where the intent of the target and the dense…
Recently, learning-based controllers have been shown to push mobile robotic systems to their limits and provide the robustness needed for many real-world applications. However, only classical optimization-based control frameworks offer the…
The quadrotor task of negotiating aggressive attitude maneuvers while adhering to motor constraints is addressed here. The majority of high level quadrotor Nonlinear Control System (NCS) solutions ignore motor control authority limitations,…
Unmanned Aerial Vehicles (UAVs), or drones, have recently been used in several civil application domains from organ delivery to remote locations to wireless network coverage. These platforms, however, are naturally unstable systems for…
This article presents an error-state Linear Quadratic Regulator (LQR) formulation for robust trajectory tracking in quadrotor Unmanned Aerial Vehicles (UAVs). The proposed approach leverages error-state dynamics and employs exponential…
The increasing adoption of Reinforcement Learning in safety-critical systems domains such as autonomous vehicles, health, and aviation raises the need for ensuring their safety. Existing safety mechanisms such as adversarial training,…
Accurate motion control in the face of disturbances within complex environments remains a major challenge in robotics. Classical model-based approaches often struggle with nonlinearities and unstructured disturbances, while RL-based methods…
In this paper, we present a full attitude control of an efficient quadrotor tail-sitter VTOL UAV with flexible modes. This control system is working in all flight modes without any control surfaces but motor differential thrusts. This paper…
This paper addresses the problem of designing a trajectory tracking control law for a quadrotor UAV, subsequent to complete failure of a single rotor. The control design problem considers the reduced state space which excludes the angular…
We propose a control protocol based on the prescribed performance control (PPC) methodology for a quadrotor unmanned aerial vehicle (UAV). Quadrotor systems belong to the class of underactuated systems for which the original PPC methodology…
In this paper, we present a novel cascade control structure with formal guarantees of uniform almost global asymptotic stability for the state tracking error dynamics of a quadcopter. The proposed approach features a model predictive…
Enforcing safety on precise trajectory tracking is critical for aerial robotics subject to wind disturbances. In this paper, we present a learning-based safety-preserving cascaded quadratic programming control (SPQC) for safe trajectory…
Model predictive control (MPC) is an effective method for controlling robotic systems, particularly autonomous aerial vehicles such as quadcopters. However, application of MPC can be computationally demanding, and typically requires…
Quadrotors have gained popularity over the last decade, aiding humans in complex tasks such as search and rescue, mapping and exploration. Despite their mechanical simplicity and versatility compared to other types of aerial vehicles, they…
This paper presents our method for enabling a UAV quadrotor, equipped with a monocular camera, to autonomously avoid collisions with obstacles in unstructured and unknown indoor environments. When compared to obstacle avoidance in ground…
This paper proposes a hierarchical trajectory planning framework for UAVs operating under adversarial jamming conditions. Leveraging Bayesian Active Inference, the approach combines expert-generated demonstrations with probabilistic…
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…
This paper deals with the dynamics and controls of a quadrotor unmanned aerial vehicle that is connected to a fixed point on the ground via a tether. Tethered quadrotors have been envisaged for long-term aerial surveillance with high-speed…
This work addresses the problem of robust attitude control of quadcopters. First, the mathematical model of the quadcopter is derived considering factors such as nonlinearity, external disturbances, uncertain dynamics and strong coupling.…
Autonomous navigation in unknown complex environment is still a hard problem, especially for small Unmanned Aerial Vehicles (UAVs) with limited computation resources. In this paper, a neural network-based reactive controller is proposed for…