相关论文: Time-Optimal Online Replanning for Agile Quadrotor…

This paper presents a new online multi-agent trajectory planning algorithm that guarantees to generate safe, dynamically feasible trajectories in a cluttered environment. The proposed algorithm utilizes a linear safe corridor (LSC) to…

The aim of this article is the formulation of a switching model predictive control framework for the case of a foldable quadrotor with the ability to retain the overall control quality during online structural reformations. The majority of…

We study online algorithms to tune the parameters of a robot controller in a setting where the dynamics, policy class, and optimality objective are all time-varying. The system follows a single trajectory without episodes or state resets,…

Aerial robots can enhance their safe and agile navigation in complex and cluttered environments by efficiently exploiting the information collected during a given task. In this paper, we address the learning model predictive control problem…

This work addresses the problem of robust attitude control of quadcopters. First, the mathematical model of the quadcopter is derived considering factors such as nonlinearity, external disturbances, uncertain dynamics and strong coupling.…

Quadrotors are indispensable in civilian, industrial, and military domains, undertaking complex, high-precision tasks once reserved for specialized systems. Across all contexts, energy efficiency remains a critical constraint: quadrotors…

In general, optimal motion planning can be performed both locally and globally. In such a planning, the choice in favour of either local or global planning technique mainly depends on whether the environmental conditions are dynamic or…

In this paper, we present an online planning-scheduling approach for battery-powered autonomous aerial robots. The approach consists of simultaneously planning a coverage path and scheduling onboard computational tasks. We further derive a…

This paper presents a scalable online algorithm to generate safe and kinematically feasible trajectories for quadrotor swarms. Existing approaches rely on linearizing Euclidean distance-based collision constraints and on axis-wise…

Recent quadrotors have transcended conventional designs, emphasizing more on foldable and reconfigurable bodies. The state of the art still focuses on the mechanical feasibility of such designs with limited discussions on the tracking…

Aerodynamic forces render accurate high-speed trajectory tracking with quadrotors extremely challenging. These complex aerodynamic effects become a significant disturbance at high speeds, introducing large positional tracking errors, and…

Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…

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…

Autonomous landing on a moving platform presents unique challenges for multirotor vehicles, including the need to accurately localize the platform, fast trajectory planning, and precise/robust control. Previous works studied this problem…

In practical applications, autonomous quadrotors are still facing significant challenges, such as the detection and avoidance of very small and even dynamic obstacles (e.g., tree branches, power lines). In this paper, we propose a compact,…

This paper presents a framework for controlled emergency landing of a quadcopter, experiencing a rotor failure, away from sensitive areas. A complete mathematical model capturing the dynamics of the system is presented that takes the…

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 presents a novel trajectory planning method for aerial perching. Compared with the existing work, the terminal states and the trajectory durations can be adjusted adaptively, instead of being determined in advance. Furthermore,…

Autonomous agile flight brings up fundamental challenges in robotics, such as coping with unreliable state estimation, reacting optimally to dynamically changing environments, and coupling perception and action in real time under severe…

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…