相关论文: Optimal time Quadcopter Descent Trajectories Avoid…

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…

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…

Obstacle avoidance is an essential topic in the field of autonomous drone research. When choosing an avoidance algorithm, many different options are available, each with their advantages and disadvantages. As there is currently no consensus…

Fault-tolerant control is crucial for safety-critical systems, such as quadrotors. State-of-art flight controllers can stabilize and control a quadrotor even when subjected to the complete loss of a rotor. However, these methods rely on…

In this paper, we present a cascade control structure to address the trajectory tracking problem for quadcopters, ensuring uniform global asymptotic stability of the state tracking error dynamics. An MPC strategy based on a 12-dimensional…

Space robotics applications, such as Active Space Debris Removal (ASDR), require representative testing before launch. A commonly used approach to emulate the microgravity environment in space is air-bearing based platforms on flat-floors,…

The rapid advancement of electric vertical takeoff and landing (eVTOL) aircraft offers a promising opportunity to alleviate urban traffic congestion but is still limited by excessive power demands, especially during the takeoff phase. Thus,…

Passive geolocation by multiple unmanned aerial vehicles (UAVs) covers a wide range of military and civilian applications including rescue, wild life tracking and electronic warfare. The sensor-target geometry is known to significantly…

Autonomous exploration is a widely studied fundamental application in the field of quadrotors, which requires them to automatically explore unknown space to obtain complete information about the environment. The frontier-based method, which…

Planning safe paths in 3D workspace for high DoF robotic systems, such as manipulators, is a challenging problem, especially when the environment is populated with the dynamic obstacles that need to be avoided. In this case the time…

Trajectory planning is crucial for the safe driving of autonomous vehicles in highway traffic flow. Currently, some advanced trajectory planning methods utilize spatio-temporal voxels to construct feasible regions and then convert…

This paper addresses the motion control problem for mobile robots in obstacle-cluttered environments. The mobile robot has partial environment information only, and aims to move from an initial position to a target position without…

Latest research in industrial robotics is aimed at making human robot collaboration possible seamlessly. For this purpose, industrial robots are expected to work on the fly in unstructured and cluttered environments and hence the subject of…

Spacecraft operations are influenced by uncertainties such as dynamics modeling, navigation, and maneuver execution errors. Although mission design has traditionally incorporated heuristic safety margins to mitigate the effect of…

In this report, we present the theory on aerodynamics of quadrotors using the well established momentum and blade element theories. From a robotics perspective, the theoretical development of the models for thrust and horizontal forces and…

Stagnation detection has been proposed as a mechanism for randomized search heuristics to escape from local optima by automatically increasing the size of the neighborhood to find the so-called gap size, i.e., the distance to the next…

Hybrid unmanned aerial vehicles (UAVs) integrate the efficient forward flight of fixed-wing and vertical takeoff and landing (VTOL) capabilities of multicopter UAVs. This paper presents the modeling, control and simulation of a new type of…

Jumping constitutes an essential component of quadruped robots' locomotion capabilities, which includes dynamic take-off and adaptive landing. Existing quadrupedal jumping studies mainly focused on the stance and flight phase by assuming a…

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…

This paper introduces a new algorithm for trajectory optimization, Decoupled Reduced-space and Adaptive Feasibility-repair Trajectory Optimization (DRAFTO). It first constructs a constrained objective that accounts for smoothness, safety,…