相关论文: PCVPC: Perception Constrained Visual Predictive Co…

In this paper, we propose an efficient, receding horizon, local adaptive low-level planner as the middle layer between our original planner and controller. Our method is named as corridor-based model predictive contouring control (CMPCC)…

This paper presents an approach to mutual collision avoidance based on Nonlinear Model Predictive Control (NMPC) with time-dependent Reciprocal Velocity Constraints (RVCs). Unlike most existing methods, the proposed approach relies solely…

This paper proposes a Model Predictive Control (MPC) algorithm for target tracking amongst static and dynamic obstacles. Our main contribution lies in improving the computational tractability and reliability of the underlying non-convex…

Model predictive control is a powerful tool to generate complex motions for robots. However, it often requires solving non-convex problems online to produce rich behaviors, which is computationally expensive and not always practical in real…

This paper discusses the conceptual design and proof-of-concept flight demonstration of a novel variable pitch quadrotor biplane Unmanned Aerial Vehicle concept for payload delivery. The proposed design combines vertical takeoff and landing…

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…

The mechanical simplicity, hover capabilities, and high agility of quadrotors lead to a fast adaption in the industry for inspection, exploration, and urban aerial mobility. On the other hand, the unstable and underactuated dynamics of…

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…

Autonomous drone racing requires powerful perception, planning, and control and has become a benchmark and test field for autonomous, agile flight. Existing work usually assumes static race tracks with known maps, which enables offline…

The growing potential of quadcopters in various domains, such as aerial photography, search and rescue, and infrastructure inspection, underscores the need for real-time control under strict safety and operational constraints. This…

Automating drone-assisted processes is a complex task. Many solutions rely on trajectory generation and tracking, whereas in contrast, path-following control is a particularly promising approach, offering an intuitive and natural approach…

We present the first static-obstacle avoidance method for quadrotors using just an onboard, monocular event camera. Quadrotors are capable of fast and agile flight in cluttered environments when piloted manually, but vision-based autonomous…

With the advent of intelligent transport, quadrotors are becoming an attractive solution while lifting or dropping payloads during emergency evacuations, construction works, etc. During such operations, dynamic variations in (possibly…

The goal of this thesis is to propose the combination of Control-Barrier-Functions (CBF) with Model-Predictive-Control (MPC) resulting in the novel Model-Predictive-Control-Barrier-Function (MPCBF). It can be shown, that the performance of…

Nonlinear Model Predictive Control (NMPC) offers a powerful approach for controlling complex nonlinear systems, yet faces two key challenges. First, accurately modeling nonlinear dynamics remains difficult. Second, variables directly…

Model predictive control (MPC) is an effective method for controlling robotic systems, particularly autonomous aerial vehicles such as quadcopters. However, application of MPC can be computationally demanding, and typically requires…

Vision is an essential part of attitude control for many flying animals, some of which have no dedicated sense of gravity. Flying robots, on the other hand, typically depend heavily on accelerometers and gyroscopes for attitude…

Heterogeneous robot teams used in marine environments incur time-and-energy penalties when the marine vehicle has to halt the mission to allow the autonomous aerial vehicle to land for recharging. In this paper, we present a solution for…

Quadrotors are among the most agile flying robots. Despite recent advances in learning-based control and computer vision, autonomous drones still rely on explicit state estimation. On the other hand, human pilots only rely on a…

Geometry-morphing Micro Aerial Vehicles (MAVs) are gaining more and more attention lately, since their ability to modify their geometric morphology in-flight increases their versatility, while expanding their application range. In this…