相关论文: Reinforcement Learning Trajectory Generation and C…

Recently, needs for unmanned aerial vehicles (UAVs) that are attachable to the wall have been highlighted. As one of the ways to address the need, researches on various tilting multirotors that can increase maneuverability has been…

In this paper, we present a method to control a quadrotor with a neural network trained using reinforcement learning techniques. With reinforcement learning, a common network can be trained to directly map state to actuator command making…

The ability to perform aggressive movements, which are called aggressive flights, is important for quadrotors during navigation. However, aggressive quadrotor flights are still a great challenge to practical applications. The existing…

Quadrotors with the ability to perch on moving inclined surfaces can save energy and extend their travel distance by leveraging ground vehicles. Achieving dynamic perching places high demands on the performance of trajectory planning and…

Multirotor aerial robots are becoming widely used for the inspection of powerlines. To enable continuous, robust inspection without human intervention, the robots must be able to perch on the powerlines to recharge their batteries. Highly…

Quadrotors have demonstrated remarkable versatility, yet their full aerobatic potential remains largely untapped due to inherent underactuation and the complexity of aggressive maneuvers. Traditional approaches, separating trajectory…

Automation of berthing maneuvers in shipping is a pressing issue as the berthing maneuver is one of the most stressful tasks seafarers undertake. Berthing control problems are often tackled via tracking a predefined trajectory or path.…

We tackle the problem of minimum-time flight for a quadrotor through a sequence of waypoints in the presence of obstacles while exploiting the full quadrotor dynamics. Early works relied on simplified dynamics or polynomial trajectory…

Quadcopters have been studied for decades thanks to their maneuverability and capability of operating in a variety of circumstances. However, quadcopters suffer from dynamical nonlinearity, actuator saturation, as well as sensor noise that…

This work addresses the practical problem of distributed formation tracking control of a group of quadrotor vehicles in a relaxed sensing graph topology with a very limited sensor set, where only one leader vehicle can access the global…

Autonomous Micro Aerial Vehicles (MAVs) have the potential to be employed for surveillance and monitoring tasks. By perching and staring on one or multiple locations aerial robots can save energy while concurrently increasing their overall…

In many robotic tasks, such as autonomous drone racing, the goal is to travel through a set of waypoints as fast as possible. A key challenge for this task is planning the time-optimal trajectory, which is typically solved by assuming…

Flying quadrotors in tight formations is a challenging problem. It is known that in the near-field airflow of a quadrotor, the aerodynamic effects induced by the propellers are complex and difficult to characterize. Although machine…

Motivated by the increasing use of quadrotors for payload delivery, we consider a joint trajectory generation and feedback control design problem for a quadrotor experiencing aerodynamic wrenches. Unmodeled aerodynamic drag forces from…

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…

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…

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…

In this work, we address the problem of computation time for trajectory generation in quadrotors. Most trajectory generation methods for waypoint navigation of quadrotors, for example minimum snap/jerk and minimum-time, are structured as…

Landing a quadrotor on an inclined surface is a challenging maneuver. The final state of any inclined landing trajectory is not an equilibrium, which precludes the use of most conventional control methods. We propose a deep reinforcement…

In this paper, we present a novel developmental reinforcement learning-based controller for a quadcopter with thrust vectoring capabilities. This multirotor UAV design has tilt-enabled rotors. It utilizes the rotor force magnitude and…