相关论文: Learning Minimum-Time Flight in Cluttered Environm…

In this paper, we propose a complete and robust motion planning system for the aggressive flight of autonomous quadrotors. The proposed method is built upon on a classical teach-and-repeat framework, which is widely adopted in…

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.…

Legged locomotion is a complex control problem that requires both accuracy and robustness to cope with real-world challenges. Legged systems have traditionally been controlled using trajectory optimization with inverse dynamics. Such…

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 studies real-time motion planning and control for ball bumping motion with quadruped robots. To enable the quadruped to bump the flying ball with different initializations, we develop a nonlinear trajectory optimization-based…

For accomplishing a variety of missions in challenging environments, the capability of navigating with full autonomy while avoiding unexpected obstacles is the most crucial requirement for UAVs in real applications. In this paper, we…

In autonomous aerial navigation, real-time and energy-efficient obstacle avoidance remains a significant challenge, especially in dynamic and complex indoor environments. This work presents a novel integration of neuromorphic event cameras…

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…

Recent research on deep learning, a set of machine learning techniques able to learn deep architectures, has shown how robotic perception and action greatly benefits from these techniques. In terms of spacecraft navigation and control…

Controller performance in quadrotor trajectory tracking depends heavily on parameter tuning, yet standard approaches often rely on fixed, manually tuned parameters that sacrifice task-specific performance. We present Trajectory-Aware…

To guarantee the safety of flight operations, decision-support systems for air traffic control must be able to improve the usage of airspace capacity and handle increasing demand. In this study, we address the aircraft conflict avoidance…

Ego-vision-based navigation in cluttered environments is crucial for mobile systems, particularly agile quadrotors. While learning-based methods have shown promise recently, head-to-head comparisons with cutting-edge optimization-based…

Improving sampling efficiency and generalization capability is critical for the successful data-driven control of quadrotor unmanned aerial vehicles (UAVs) that are inherently unstable. While various reinforcement learning (RL) approaches…

Gliding offers small fixed-wing UAVs extended endurance and silent operation but requires accurate energy management, especially under wind disturbances and obstacle constraints. Traditional Total Energy Control Systems based controllers…

This paper proposes an adaptive near-hover position controller for quadcopters, which can be deployed to quadcopters of very different mass, size and motor constants, and also shows rapid adaptation to unknown disturbances during runtime.…

In this paper, we present a novel trajectory planning algorithm for cooperative manipulation with multiple quadrotors using control barrier functions (CBFs). Our approach addresses the complex dynamics of a system in which a team of…

In this paper, we propose a lightweight yet effective Topology Guided Kinodynamic planner (TGK-Planner) for quadrotor aggressive flights with limited onboard computing resources. The proposed system follows the traditional hierarchical…

Precise near-ground trajectory control is difficult for multi-rotor drones, due to the complex aerodynamic effects caused by interactions between multi-rotor airflow and the environment. Conventional control methods often fail to properly…

Many aerial tasks involving quadrotors demand both instant reactivity and long-horizon planning. High-fidelity models enable accurate control but are too slow for long horizons; low-fidelity planners scale but degrade closed-loop…

In this paper, we introduce a complete system for autonomous flight of quadrotors in dynamic environments with onboard sensing. Extended from existing work, we develop an occlusion-aware dynamic perception method based on depth images,…