相关论文: Autonomous quadrotor obstacle avoidance based on d…
Reach-avoid specifications are one of the most common tasks in autonomous aerial vehicle (UAV) applications. Despite the intensive research and development associated with control of aerial vehicles, generating feasible trajectories though…
In this study, a fault-tolerant super-twisting sliding mode controller with a control allocation system for a quadrotor aircraft is proposed. Super twisting sliding mode control is a robust control technique that handles a system with a…
Recent advances in trajectory replanning have enabled quadrotor to navigate autonomously in unknown environments. However, high-speed navigation still remains a significant challenge. Given very limited time, existing methods have no strong…
Unmanned Aerial Vehicles (UAVs) have become pivotal in domains spanning military, agriculture, surveillance, and logistics, revolutionizing data collection and environmental interaction. With the advancement in drone technology, there is a…
Omnidirectional aerial vehicles (OMAVs) have opened up a wide range of possibilities for inspection, navigation, and manipulation applications using drones. In this paper, we introduce MorphEUS, a morphable co-axial quadrotor that can…
This report proposes a combined optimal control and perception framework for Micro Aerial Vehicle (MAV) autonomous navigation in novel indoor enclosed environments, relying exclusively on on-board sensor data. We use privileged information…
Autonomous exploration of unknown environments is a key capability for mobile robots, but it is largely unsolved for robots equipped with only a single monocular camera and no dense range sensors. In this paper, we present a novel approach…
This paper presents a two-layer control framework for Autonomous Underwater Vehicles (AUVs) designed to handle uncertain nonlinear dynamics, including the mass matrix, previously assumed known. Unlike prior studies, this approach makes the…
End-to-end deep reinforcement learning (DRL) for quadrotor control promises many benefits -- easy deployment, task generalization and real-time execution capability. Prior end-to-end DRL-based methods have showcased the ability to deploy…
Training and transferring learning-based policies for quadrotors from simulation to reality remains challenging due to inefficient visual rendering, physical modeling inaccuracies, unmodeled sensor discrepancies, and the absence of a…
This paper presents a novel learning-based trajectory planning framework for quadrotors that combines model-based optimization techniques with deep learning. Specifically, we formulate the trajectory optimization problem as a quadratic…
This paper studies the trajectory optimization problem for an aerial vehicle with the mission of flying between a pair of given initial and final locations. The objective is to minimize the travel time of the aerial vehicle ensuring that…
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…
Due to dynamic variations such as changing payload, aerodynamic disturbances, and varying platforms, a robust solution for quadrotor trajectory tracking remains challenging. To address these challenges, we present a deep reinforcement…
This paper presents a novel design for finite-time position control of quadrotor Unmanned Aerial Vehicles (UAVs). A robust, finite-time, nonlinear feedback controller is introduced to reject bounded disturbances in tracking tasks. The…
Quadrotor motion planning in complex environments leverage the concept of safe flight corridor (SFC) to facilitate static obstacle avoidance. Typically, SFCs are constructed through convex decomposition of the environment's free space into…
Autonomous drone navigation in confined tubular environments remains a major challenge due to the constraining geometry of the conduits, the proximity of the walls, and the perceptual limitations inherent to such scenarios. We propose a…
The utilisation of unmanned aerial vehicles has witnessed significant growth in real-world applications including surveillance tasks, military missions, and transportation deliveries. This letter investigates practical problems of formation…
Bidirectional thrust grants quadrotors a second equilibrium condition and increased control authority, expanding the envelope of possible aggressive maneuvers and enabling inverted flight, perching, and sensing. Prior geometric control…
In this study, we applied reinforcement learning based on the proximal policy optimization algorithm to perform motion planning for an unmanned aerial vehicle (UAV) in an open space with static obstacles. The application of reinforcement…