相关论文: Quadrotor Takeoff Trajectory Planning in a One-Dim…

In this paper, we tackle the problem of flying a quadrotor using time-optimal control policies that can be replanned online when the environment changes or when encountering unknown disturbances. This problem is challenging as the…

Agile quadrotor flight pushes the limits of control, actuation, and onboard perception. While time-optimal trajectory planning has been extensively studied, existing approaches typically neglect the tight coupling between vehicle dynamics,…

Agile quadrotor flight relies on rapidly planning and accurately tracking time-optimal trajectories, a technology critical to their application in the wild. However, the computational burden of computing time-optimal trajectories based on…

Quadrotor unmanned aerial vehicles have a limited quantity of embedded energy. To preserve and guaranty the success of the UAV mission, we should manage energy consumption during the mission. In this study we introduce an optimization…

For quadrotors, achieving safe and autonomous flight in complex environments with wind disturbances and dynamic obstacles still faces significant challenges. Most existing methods address wind disturbances in either trajectory planning or…

The role of a motion planner is pivotal in quadrotor applications, yet existing methods often struggle to adapt to complex environments, limiting their ability to achieve fast, safe, and robust flight. In this letter, we introduce a…

Quadrotors are among the most agile flying robots. However, planning time-optimal trajectories at the actuation limit through multiple waypoints remains an open problem. This is crucial for applications such as inspection, delivery, search…

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…

It is ubiquitously accepted that during the autonomous navigation of the quadrotors, one of the most widely adopted unmanned aerial vehicles (UAVs), safety always has the highest priority. However, it is observed that the ego airflow…

Rotor failures in quadrotors may result in high-speed rotation and vibration due to rotor imbalance, which introduces significant challenges for autonomous flight in unknown environments. The mainstream approaches against rotor failures…

With the advent of intelligent transport, quadrotors are becoming an attractive solution while lifting or dropping payloads during emergency evacuations, construction works, etc. During such operations, dynamic variations in (possibly…

In this paper, we present a distributed optimal multiagent control scheme for quadrotor formation tracking under localization errors. Our control architecture is based on a leader-follower approach, where a single leader quadrotor tracks a…

We tackle the problem of planning a minimum-time trajectory for a quadrotor over a sequence of specified waypoints in the presence of obstacles while exploiting the full quadrotor dynamics. This problem is crucial for autonomous search and…

We tackle the problem of minimum-time flight for a quadrotor through a sequence of waypoints in the presence of obstacles while exploiting the full quadrotor dynamics. Early works relied on simplified dynamics or polynomial trajectory…

This paper presents a geometric adaptive control scheme for a quadrotor unmanned aerial vehicle, where the effects of unknown, unstructured disturbances are mitigated by a multilayer neural network that is adjusted online. The stability of…

We tackle the problem of flying time-optimal trajectories through multiple waypoints with quadrotors. State-of-the-art solutions split the problem into a planning task - where a global, time-optimal trajectory is generated - and a control…

In trajectory planning and control design for unmanned air vehicles, highly simplified models are typically used to represent the vehicle dynamics and the operating environment. The goal of this work is to perform real-time, but realistic…

The vertical trajectory optimization for the en route descent phase is studied in the presence of both along track and cross winds, which are both modeled as functions of altitude. The flight range covers some portion of a cruise segment…

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…

The quadrotor is popularly used in challenging environments due to its superior agility and flexibility. In these scenarios, trajectory planning plays a vital role in generating safe motions to avoid obstacles while ensuring flight…