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

Unlike squared (or alike) quadrotors, elongated bi-copters leverage natural superiority in crossing tight spaces. To date, extensive works have focused on the design, modeling, and control of bi-copters. Besides, a proper motion planner…

This paper presents contributions on nonlinear tracking control systems for a quadrotor unmanned micro aerial vehicle. New controllers are proposed based on nonlinear surfaces composed by tracking errors that evolve directly on the…

We present the first perception-aware model predictive control framework for quadrotors that unifies control and planning with respect to action and perception objectives. Our framework leverages numerical optimization to compute…

With much research has been conducted into trajectory planning for quadrotors, planning with spatial and temporal optimal trajectories in real-time is still challenging. In this paper, we propose a framework for generating large-scale…

Agile quadrotor flight in challenging environments has the potential to revolutionize shipping, transportation, and search and rescue applications. Nonlinear model predictive control (NMPC) has recently shown promising results for agile…

This paper develops a data-based moving horizon estimation (MHE) method for agile quadrotors. Accurate state estimation of the system is paramount for precise trajectory control for agile quadrotors; however, the high level of aerodynamic…

A major challenge in autonomous flights is unknown disturbances, which can jeopardize safety and lead to collisions, especially in obstacle-rich environments. This paper presents a disturbance-aware motion planning and control framework…

In this paper, we present a novel strategy to compute minimum-time trajectories for quadrotors in constrained environments. In particular, we consider the motion in a given flying region with obstacles and take into account the physical…

QuadPlanes combine the range efficiency of fixed-wing aircraft with the maneuverability of multi-rotor platforms for long-range autonomous missions. In GPS-denied or cluttered urban environments, perception-based landing is vital for…

In this paper, we tackle the problem of flying a quadrotor using time-optimal control policies that can be replanned online when the environment changes or when encountering unknown disturbances. This problem is challenging as the…

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…

Perching on the moving platforms is a promising solution to enhance the endurance and operational range of quadrotors, which could benefit the efficiency of a variety of air-ground cooperative tasks. To ensure robust perching, tracking with…

It is ubiquitously accepted that during the autonomous navigation of the quadrotors, one of the most widely adopted unmanned aerial vehicles (UAVs), safety always has the highest priority. However, it is observed that the ego airflow…

This paper considers the problem of controlling a quadrotor to go through a window and land on a planar target, the landing pad, using an Image-Based Visual Servo (IBVS) controller that relies on sensing information from two on-board…

Ego-vision-based navigation in cluttered environments is crucial for mobile systems, particularly agile quadrotors. While learning-based methods have shown promise recently, head-to-head comparisons with cutting-edge optimization-based…

The increasing popularity of quadrotors has given rise to a class of predominantly vision-driven vehicles. This paper addresses the problem of perception-aware time optimal path parametrization for quadrotors. Although many different…

Autonomous identification and evaluation of safe landing zones are of paramount importance for ensuring the safety and effectiveness of aerial robots in the event of system failures, low battery, or the successful completion of specific…

Agile quadrotor flight relies on rapidly planning and accurately tracking time-optimal trajectories, a technology critical to their application in the wild. However, the computational burden of computing time-optimal trajectories based on…

Quadrotors are extremely agile, so much in fact, that classic first-principle-models come to their limits. Aerodynamic effects, while insignificant at low speeds, become the dominant model defect during high speeds or agile maneuvers.…

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…