相关论文: PE-Planner: A Performance-Enhanced Quadrotor Motio…
High speed navigation through unknown environments is a challenging problem in robotics. It requires fast computation and tight integration of all the subsystems on the robot such that the latency in the perception-action loop is as small…
In this paper, we address the problem of online quadrotor whole-body motion planning (SE(3) planning) in unknown and unstructured environments. We propose a novel multi-resolution search method, which discovers narrow areas requiring full…
Online trajectory planners enable quadrotors to safely and smoothly navigate in unknown cluttered environments. However, tuning parameters is challenging since modern planners have become too complex to mathematically model and predict…
Obstacle avoidance of quadrotors in dynamic environments is still a very open problem. Current works commonly leverage traditional static maps to represent static obstacles and the detection and tracking of moving objects (DATMO) method to…
Agile flights of autonomous quadrotors in cluttered environments require constrained motion planning and control subject to translational and rotational dynamics. Traditional model-based methods typically demand complicated design and heavy…
In this work, a novel, end-to-end motion planning method is proposed for quadrotor navigation in cluttered environments. The proposed method circumvents the explicit sensing-reconstructing-planning in contrast to conventional navigation…
Trajectory replanning for quadrotors is essential to enable fully autonomous flight in unknown environments. Hierarchical motion planning frameworks, which combine path planning with path parameterization, are popular due to their time…
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…
Morphing quadrotors with four external actuators can adapt to different restricted scenarios by changing their geometric structure. However, previous works mainly focus on the improvements in structures and controllers, and existing…
High-speed trajectory planning through unknown environments requires algorithmic techniques that enable fast reaction times while maintaining safety as new information about the operating environment is obtained. The requirement of…
This paper introduces a quadrotor's autonomous take-off and landing system on a moving platform. The designed system addresses three challenging problems: fast pose estimation, restricted external localization, and effective obstacle…
Expressive motion planning for Aerial Manipulators (AMs) is essential for tackling complex manipulation tasks, yet achieving coupled trajectory planning adaptive to various tasks remains challenging, especially for those requiring…
Unlike squared (or alike) quadrotors, elongated bi-copters leverage natural superiority in crossing tight spaces. To date, extensive works have focused on the design, modeling, and control of bi-copters. Besides, a proper motion planner…
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…
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…
Quadrotors can provide services such as infrastructure inspection and search-and-rescue, which require operating autonomously in cluttered environments. Autonomy is typically achieved with receding-horizon planning, where a short plan is…
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…
Adaptive autonomous navigation with no prior knowledge of extraneous disturbance is of great significance for quadrotors in a complex and unknown environment. The mainstream that considers external disturbance is to implement…
This letter suggests an integrated approach for a drone (or multirotor) to perform an autonomous videography task in a 3-D obstacle environment by following a moving object. The proposed system includes 1) a target motion prediction module…
Planning time-optimal trajectories for quadrotors in cluttered environments is a challenging, non-convex problem. This paper addresses minimizing the traversal time of a given collision-free geometric path without violating bounds on…