相关论文: Aggressive Quadrotor Flight through Narrow Gaps wi…

Recent quadrotors have transcended conventional designs, emphasizing more on foldable and reconfigurable bodies. The state of the art still focuses on the mechanical feasibility of such designs with limited discussions on the tracking…

The recent works on quadrotor have focused on more and more challenging tasks on increasingly complex systems. Systems are often augmented with slung loads, inverted pendulums or arms, and accomplish complex tasks such as going through a…

Autonomous navigation in unknown environments with obstacles remains challenging for micro aerial vehicles (MAVs) due to their limited onboard computing and sensing resources. Although various collision avoidance methods have been…

Quadrotors can provide services such as infrastructure inspection and search-and-rescue, which require operating autonomously in cluttered environments. Autonomy is typically achieved with receding-horizon planning, where a short plan is…

Micro aerial vehicles are widely being researched and employed due to their relative low operation costs and high flexibility in various applications. We study the under-actuated quadrotor perching problem, designing a trajectory planner…

Learning-based controllers have achieved impressive performance in agile quadrotor flight but typically rely on massive training in simulation, necessitating accurate system identification for effective Sim2Real transfer. However, even with…

In this paper, we address the problem of online quadrotor whole-body motion planning (SE(3) planning) in unknown and unstructured environments. We propose a novel multi-resolution search method, which discovers narrow areas requiring full…

A long-cherished vision of drones is to autonomously traverse through clutter to reach every corner of the world using onboard sensing and computation. In this paper, we combine onboard 3D lidar sensing and sim-to-real reinforcement…

Collision detection and recovery for aerial robots remain a challenge because of the limited space for sensors and local stability of the flight controller. We introduce a novel collision-resilient quadrotor that features a compliant arm…

Agile flights of autonomous quadrotors in cluttered environments require constrained motion planning and control subject to translational and rotational dynamics. Traditional model-based methods typically demand complicated design and heavy…

The problem of control based on vision measurements (bearings) has been amply studied in the literature; however, the problem of addressing the limits of the field of view of physical sensors has received relatively less attention…

The problem of safety for robotic systems has been extensively studied. However, little attention has been given to security issues for three-dimensional systems, such as quadrotors. Malicious adversaries can compromise robot sensors and…

The flying speed of autonomous quadrotors has increased significantly over the past 5 years, particularly in the field of autonomous drone racing. However, most research primarily focuses on the aggressive flight of a single quadrotor,…

In recent years, autonomous unmanned aerial vehicle (UAV) technology has seen rapid advancements, significantly improving operational efficiency and mitigating risks associated with manual tasks in domains such as industrial inspection,…

Dynamic obstacle avoidance on quadrotors requires low latency. A class of sensors that are particularly suitable for such scenarios are event cameras. In this paper, we present a deep learning -- based solution for dodging multiple dynamic…

Search and rescue environments exhibit challenging 3D geometry (e.g., confined spaces, rubble, and breakdown), which necessitates agile and maneuverable aerial robotic systems. Because these systems are size, weight, and power (SWaP)…

Manipulation and grasping with unmanned aerial vehicles (UAVs) currently require accurate positioning and are often executed at reduced speed to ensure successful grasps. This is due to the fact that typical UAVs can only accommodate rigid…

Optical flow captures the motion of pixels in an image sequence over time, providing information about movement, depth, and environmental structure. Flying insects utilize this information to navigate and avoid obstacles, allowing them to…

Autonomous Micro Aerial Vehicles are deployed for a variety tasks including surveillance and monitoring. Perching and staring allow the vehicle to monitor targets without flying, saving battery power and increasing the overall mission time…

Visual inertial odometry (VIO) is widely used for the state estimation of multicopters, but it may function poorly in environments with few visual features or in overly aggressive flights. In this work, we propose a perception-aware…