相关论文: Geometric Adaptive Control with Neural Networks fo…

Automatic optimization of robotic behavior has been the long-standing goal of Evolutionary Robotics. Allowing the problem at hand to be solved by automation often leads to novel approaches and new insights. A common problem encountered with…

Incorporating symmetry as an inductive bias into neural network architecture has led to improvements in generalization, data efficiency, and physical consistency in dynamics modeling. Methods such as CNNs or equivariant neural networks use…

This paper presents a learning-based tracking control framework for cooperative transport of a rigid payload by multiple aerial manipulators under rigid grasp constraints. A unified geometric model is developed, yielding a coupled…

Today, low-altitude fixed-wing Unmanned Aerial Vehicles (UAVs) are largely limited to primitively follow user-defined waypoints. To allow fully-autonomous remote missions in complex environments, real-time environment-aware navigation is…

Quadrotors are highly nonlinear dynamical systems that require carefully tuned controllers to be pushed to their physical limits. Recently, learning-based control policies have been proposed for quadrotors, as they would potentially allow…

Quadrotor unmanned aerial vehicles have a limited quantity of embedded energy. To preserve and guaranty the success of the UAV mission, we should manage energy consumption during the mission. In this study we introduce an optimization…

This paper introduces a new multi-model predictive control (MMPC) method for quadrotor attitude control with performance nearly on par with nonlinear model predictive control (NMPC) and computational efficiency similar to linear model…

The aim of this article is the formulation of a switching model predictive control framework for the case of a foldable quadrotor with the ability to retain the overall control quality during online structural reformations. The majority of…

We present a new quadrotor geometric control scheme that is capable of tracking highly aggressive trajectories. Our geometric controller uses the logarithmic map of SO(3) to express rotational error in the Lie algebra, and we show that it…

In trajectory planning and control design for unmanned air vehicles, highly simplified models are typically used to represent the vehicle dynamics and the operating environment. The goal of this work is to perform real-time, but realistic…

This paper presents a neural-network based adaptive feedback control structure to regulate the velocity of 3D bipedal robots under dynamics uncertainties. Existing Hybrid Zero Dynamics (HZD)-based controllers regulate velocity through the…

Precise landing of Unmanned Aerial Vehicles (UAVs) onto moving platforms like Autonomous Surface Vehicles (ASVs) is both important and challenging, especially in GPS-denied environments, for collaborative navigation of heterogeneous…

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…

In this paper a neural network heuristic dynamic programing (HDP) is used for optimal control of the virtual inertia based control of grid connected three phase inverters. It is shown that the conventional virtual inertia controllers are…

Controlling the complex combustion dynamics within solid fuel ramjets (SFRJs) remains a critical challenge limiting deployment at scale. This paper proposes the use of a neural network model to process in-situ measurements for monitoring…

In this paper we propose an algorithm for the training of neural network control policies for quadrotors. The learned control policy computes control commands directly from sensor inputs and is hence computationally efficient. An imitation…

In automotive applications, frequency modulated continuous wave (FMCW) radar is an established technology to determine the distance, velocity and angle of objects in the vicinity of the vehicle. The quality of predictions might be seriously…

This paper proposes a real-time movement control algorithm for massive unmanned aerial vehicles (UAVs) that provide emergency cellular connections in an urban disaster site. While avoiding the inter-UAV collision under temporal wind…

Over the past decade, there has been a remarkable surge in utilizing quadrotors for various purposes due to their simple structure and aggressive maneuverability, such as search and rescue, delivery and autonomous drone racing, etc. One of…

Autonomous UAV racing has recently emerged as an interesting research problem. The dream is to beat humans in this new fast-paced sport. A common approach is to learn an end-to-end policy that directly predicts controls from raw images by…