相关论文: Adaptive Tracking and Perching for Quadrotor in Dy…

The increasing popularity of quadrotors has given rise to a class of predominantly vision-driven vehicles. This paper addresses the problem of perception-aware time optimal path parametrization for quadrotors. Although many different…

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…

Autonomous docking remains one of the most challenging maneuvers in marine robotics, requiring precise control and robust perception in confined spaces. This paper presents a novel approach integrating Model Predictive Path Integral(MPPI)…

Current motion planning approaches for autonomous mobile robots often assume that the low level controller of the system is able to track the planned motion with very high accuracy. In practice, however, tracking error can be affected by…

This paper introduces a novel methodology for the cooperative control of multiple quadrotors transporting cablesuspended payloads, emphasizing obstacle-aware planning and event-based Nonlinear Model Predictive Control (NMPC). Our approach…

In this paper we present a maneuver regulation scheme for Vertical Take-Off and Landing (VTOL) micro aerial vehicles (MAV). Differently from standard trajectory tracking, maneuver regulation has an intrinsic robustness due to the fact that…

Collapsing terrains, often present in search and rescue missions or planetary exploration, pose significant challenges for quadruped robots. This paper introduces a robust locomotion framework for safe navigation over unstable surfaces by…

Multi-drone surveillance systems offer enhanced coverage and robustness for pedestrian tracking, yet existing approaches struggle with dynamic camera positions and complex occlusions. This paper introduces MATRIX (Multi-Aerial TRacking In…

Learning control policies in simulation enables rapid, safe, and cost-effective development of advanced robotic capabilities. However, transferring these policies to the real world remains difficult due to the sim-to-real gap, where…

Hybrid Flying-Crawling Quadrotors (HyFCQs) are transformable robots with the ability of terrestrial and aerial hybrid motion. This article presents a trajectory planning and tracking framework designed for HyFCQs. In this framework, a…

In this study, a fault-tolerant super-twisting sliding mode controller with a control allocation system for a quadrotor aircraft is proposed. Super twisting sliding mode control is a robust control technique that handles a system with a…

The growing potential of quadcopters in various domains, such as aerial photography, search and rescue, and infrastructure inspection, underscores the need for real-time control under strict safety and operational constraints. This…

This work develops a unified optimal control framework for a Quadrotor Biplane tailsitter UAV capable of operating seamlessly across hover, transition, and cruise flight regimes. Although the tailsitter configuration enables mechanically…

Designing motion control and planning algorithms for multilift systems remains challenging due to the complexities of dynamics, collision avoidance, actuator limits, and scalability. Existing methods that use optimization and distributed…

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…

The Roller-Quadrotor is a novel quadrotor that combines the maneuverability of aerial drones with the endurance of ground vehicles. This work focuses on the design, modeling, and experimental validation of the Roller-Quadrotor. Flight…

Humans are remarkably data-efficient when adapting to new unseen conditions, like driving a new car. In contrast, modern robotic control systems, like neural network policies trained using Reinforcement Learning (RL), are highly specialized…

Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…

The recent increase in data availability and reliability has led to a surge in the development of learning-based model predictive control (MPC) frameworks for robot systems. Despite attaining substantial performance improvements over their…

In this paper, a novel adaptive smooth disturbance observer-based fast finite-time adaptive backstepping control scheme is presented for the attitude tracking of the 3-DOF helicopter system subject to compound disturbances. First, an…