相关论文: Agilicious: Open-Source and Open-Hardware Agile Qu…

Aerial manipulators (AMs) are gaining increasing attention in automated transportation and emergency services due to their superior dexterity compared to conventional multirotor drones. However, their practical deployment is challenged by…

Control systems are at the core of every real-world robot. They are deployed in an ever-increasing number of applications, ranging from autonomous racing and search-and-rescue missions to industrial inspections and space exploration. To…

Executing precise and agile flight maneuvers is critical for quadrotors in various applications. Traditional quadrotor control approaches are limited by their reliance on flat trajectories or time-consuming optimization, which restricts…

We introduce FalconWing, an ultra-light (150 g) indoor fixed-wing UAV platform for vision-based autonomy. Controlled indoor environment enables year-round repeatable UAV experiment but imposes strict weight and maneuverability limits on the…

This paper presents a multi-step procedure to construct the dynamic motion model of an autonomous quadcopter, identify the model parameters, and design a model-based nonlinear trajectory tracking controller. The aim of the proposed method…

Drones, like most airborne aerial vehicles, face inherent disadvantages in achieving agile flight due to their limited thrust capabilities. These physical constraints cannot be fully addressed through advancements in control algorithms…

This paper introduces a learning-based visual planner for agile drone flight in cluttered environments. The proposed planner generates collision-free waypoints in milliseconds, enabling drones to perform agile maneuvers in complex…

Agile quadrotor flight in challenging environments has the potential to revolutionize shipping, transportation, and search and rescue applications. Nonlinear model predictive control (NMPC) has recently shown promising results for agile…

Autonomous Micro Aerial Vehicles (MAVs) have the potential to be employed for surveillance and monitoring tasks. By perching and staring on one or multiple locations aerial robots can save energy while concurrently increasing their overall…

In the near future, autonomous space systems will compose many of the deployed spacecraft. Their tasks will involve autonomous rendezvous and proximity operations with large structures, such as inspections, assembly, and maintenance of…

This paper describes the hardware design and flight demonstration of a small quadrotor with imaging sensors for urban mapping, hazard avoidance, and target tracking research. The vehicle is equipped with five cameras, including two pairs of…

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…

This study explores modeling and control for quadrotor acrobatics, focusing on executing flip maneuvers. Flips are an elegant way to deliver sensor probes into no-fly or hazardous zones, like volcanic vents. Successful flips require…

Insects and hummingbirds exhibit extraordinary flight capabilities and can simultaneously master seemingly conflicting goals: stable hovering and aggressive maneuvering, unmatched by small scale man-made vehicles. Flapping Wing Micro Air…

Manipulation and grasping with unmanned aerial vehicles (UAVs) currently require accurate positioning and are often executed at reduced speed to ensure successful grasps. This is due to the fact that typical UAVs can only accommodate rigid…

Accurate trajectory tracking control for quadrotors is essential for safe navigation in cluttered environments. However, this is challenging in agile flights due to nonlinear dynamics, complex aerodynamic effects, and actuation constraints.…

Foundation models (FM) have shown immense human-like capabilities for generating digital media. However, foundation models that can freely sense, interact, and actuate the physical domain is far from being realized. This is due to 1)…

In this paper, we present a methodology for constructing data-driven maneuver generation models for agile aircraft that can generalize across a wide range of trim conditions and aircraft model parameters. Maneuver generation models play a…

A customizable multi-rotor UAVs simulation platform based on ROS, Gazebo and PX4 is presented. The platform, which is called XTDrone, integrates dynamic models, sensor models, control algorithm, state estimation algorithm, and 3D scenes.…

We introduce a new open-source framework, Quadruped Trajectory Optimization Stack (QTOS), which integrates a global planner, local planner, simulator, controller, and robot interface into a single package. QTOS serves as a full-stack…