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

Control barrier functions (CBFs) have been widely applied to safety-critical robotic applications. However, the construction of control barrier functions for robotic systems remains a challenging task. Recently, collision detection using…

This paper presents an equivariant reinforcement learning framework for quadrotor unmanned aerial vehicles. Successful training of reinforcement learning often requires numerous interactions with the environments, which hinders its…

This paper proposes a computationally efficient collision avoidance algorithm using turning circle-based control barrier functions (CBFs) that comply with international regulations for preventing collisions at sea (COLREGs). Conventional…

This paper proposes a model predictive trajectory tracking approach for quadrotors subject to input constraints. Our proposed approach relies on a hierarchical control strategy with an outer-loop feedback generating the required thrust and…

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 thesis introduces a novel quadrotor manipulation system that consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the drawbacks found in the current quadrotor manipulation system…

Quadrotors are agile platforms. With human experts, they can perform extremely high-speed flights in cluttered environments. However, fully autonomous flight at high speed remains a significant challenge. In this work, we propose a motion…

We propose a control protocol based on the prescribed performance control (PPC) methodology for a quadrotor unmanned aerial vehicle (UAV). Quadrotor systems belong to the class of underactuated systems for which the original PPC methodology…

This paper introduces a motion planning framework to plan morphology and trajectory for morphing quadrotors under extremely constrained environments. We develop a novel obstacle avoidance cost function for nonlinear model predictive control…

Fluidic locomotion of flapping Micro Aerial Vehicles (MAVs) can be very complex, particularly when the rules from insect flight dynamics (fast flapping dynamics and light wings) are not applicable. In these situations, widely used averaging…

Despite extensive research on sliding mode control (SMC) design for quadrotors, the existing approaches suffer from certain limitations. Euler angle-based SMC formulations suffer from poor performance in high-pitch or -roll maneuvers.…

Purpose: Real-life applications using quadrotors introduce a number of disturbances and time-varying properties that pose a challenge to flight controllers. We observed that, when a quadrotor is tasked with picking up and dropping a…

The main contribution of this paper is a high frequency, low-complexity, on-board visual-inertial odometry system for quadrotor micro air vehicles. The system consists of an extended Kalman filter (EKF) based state estimation algorithm that…

In this article, we propose a control solution for the safe transfer of a quadrotor UAV between two surface robots positioning itself only using the visual features on the surface robots, which enforces safety constraints for precise…

This paper integrates cooperative localization with continuum deformation coordination of a multi-quadcopter system {(MQS) to assure safety and optimality of the quadcopter team coordination in the presence of position uncertainty. We first…

In this paper we propose an algorithm for the training of neural network control policies for quadrotors. The learned control policy computes control commands directly from sensor inputs and is hence computationally efficient. An imitation…

Quadrotors can achieve aggressive flight by tracking complex maneuvers and rapidly changing directions. Planning for aggressive flight with trajectory optimization could be incredibly fast, even in higher dimensions, and can account for…

In this paper, we present a novel strategy to compute minimum-time trajectories for quadrotors in constrained environments. In particular, we consider the motion in a given flying region with obstacles and take into account the physical…

Quadrotors are extremely agile, so much in fact, that classic first-principle-models come to their limits. Aerodynamic effects, while insignificant at low speeds, become the dominant model defect during high speeds or agile maneuvers.…

A long-cherished vision of drones is to autonomously traverse through clutter to reach every corner of the world using onboard sensing and computation. In this paper, we combine onboard 3D lidar sensing and sim-to-real reinforcement…