相关论文: Quadrotor Formation Flying Resilient to Abrupt Veh…

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…

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…

This paper introduces a safety filter to ensure collision avoidance for multirotor aerial robots. The proposed formalism leverages a single Composite Control Barrier Function from all position constraints acting on a third-order nonlinear…

Rotor failures in quadrotors may result in high-speed rotation and vibration due to rotor imbalance, which introduces significant challenges for autonomous flight in unknown environments. The mainstream approaches against rotor failures…

Quadrotors have gained popularity over the last decade, aiding humans in complex tasks such as search and rescue, mapping and exploration. Despite their mechanical simplicity and versatility compared to other types of aerial vehicles, they…

We address one of the main challenges towards autonomous quadrotor flight in complex environments, which is flight through narrow gaps. While previous works relied on off-board localization systems or on accurate prior knowledge of the gap…

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…

Safe control for inherently unstable systems such as quadrotors is crucial. Imposing multiple dynamic constraints simultaneously on the states for safety regulation can be a challenging problem. In this paper, we propose a quadratic…

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…

High speed navigation through unknown environments is a challenging problem in robotics. It requires fast computation and tight integration of all the subsystems on the robot such that the latency in the perception-action loop is as small…

This article presents a novel stream function-based navigational control system for obstacle avoidance, where obstacles are represented as two-dimensional (2D) rigid surfaces in inviscid, incompressible flows. The approach leverages the…

Although quadrotors, and aerial robots in general, are inherently active agents, their perceptual capabilities in literature so far have been mostly passive in nature. Researchers and practitioners today use traditional computer vision…

Visual navigation algorithms for quadrotors often exhibit a large variation in performance when transferred across different vehicle platforms and scene geometries, which increases the cost and risk of field deployment. To support…

MAVs have great potential to assist humans in complex tasks, with applications ranging from logistics to emergency response. Their agility makes them ideal for operations in complex and dynamic environments. However, achieving precise…

Quadrotors are agile. Unlike most other machines, they can traverse extremely complex environments at high speeds. To date, only expert human pilots have been able to fully exploit their capabilities. Autonomous operation with on-board…

Unmanned aerial vehicles (UAVs), specifically quadrotors, have revolutionized various industries with their maneuverability and versatility, but their safe operation in dynamic environments heavily relies on effective collision avoidance…

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…

Agile quadrotor flight pushes the limits of control, actuation, and onboard perception. While time-optimal trajectory planning has been extensively studied, existing approaches typically neglect the tight coupling between vehicle dynamics,…

This paper experimentally evaluates continuum deformation cooperative control for the first time. Theoretical results are expanded to place a bounding triangle on the leader-follower system such that the team is contained despite nontrivial…

Autonomous quadrotor flight in confined spaces such as pipes and tunnels presents significant challenges due to unsteady, self-induced aerodynamic disturbances. Very recent advances have enabled flight in such conditions, but they either…