相关论文: PE-Planner: A Performance-Enhanced Quadrotor Motio…

For real applications of unmanned aerial vehicles, the capability of navigating with full autonomy in unknown environments is a crucial requirement. However, planning a shorter path with less computing time is contradictory. To address this…

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…

In this work, we propose a search-based planning method to compute dynamically feasible trajectories for a quadrotor flying in an obstacle-cluttered environment. Our approach searches for smooth, minimum-time trajectories by exploring the…

Quadrotors are agile. Unlike most other machines, they can traverse extremely complex environments at high speeds. To date, only expert human pilots have been able to fully exploit their capabilities. Autonomous operation with on-board…

In many robotic tasks, such as autonomous drone racing, the goal is to travel through a set of waypoints as fast as possible. A key challenge for this task is planning the time-optimal trajectory, which is typically solved by assuming…

Autonomous drones have gained considerable attention for applications in real-world scenarios, such as search and rescue, inspection, and delivery. As their use becomes ever more pervasive in civilian applications, failure to ensure safe…

The goal of this paper is to develop a continuous optimization-based refinement of the reference trajectory to 'push it out' of the obstacle-occupied space in the global phase for Multi-rotor Aerial Vehicles in unknown environments. Our…

Motion planning is an essential process for the navigation of unmanned aerial vehicles (UAVs) where they need to adapt to obstacles and different structures of their operating environment to reach the goal. This paper presents an optimal…

Quadrotor drones equipped with high quality cameras have rapidely raised as novel, cheap and stable devices for filmmakers. While professional drone pilots can create aesthetically pleasing videos in short time, the smooth -- and…

To efficiently deploy robotic systems in society, mobile robots must move autonomously and safely through complex environments. Nonlinear model predictive control (MPC) methods provide a natural way to find a dynamically feasible trajectory…

MAVs have great potential to assist humans in complex tasks, with applications ranging from logistics to emergency response. Their agility makes them ideal for operations in complex and dynamic environments. However, achieving precise…

This paper addresses the problem of real-time vision-based autonomous obstacle avoidance in unstructured environments for quadrotor UAVs. We assume that our UAV is equipped with a forward facing stereo camera as the only sensor to perceive…

In recent years, there is a noteworthy advancement in autonomous drone racing. However, the primary focus is on attaining execution times, while scant attention is given to the challenges of dynamic environments. The high-speed nature of…

Motion planning is an extremely well-studied problem in the robotics community, yet existing work largely falls into one of two categories: computationally efficient but with few if any safety guarantees, or able to give stronger guarantees…

Autonomous flight in unknown environments requires precise spatial and temporal trajectory planning, often involving computationally expensive nonconvex optimization prone to local optima. To overcome these challenges, we present the…

Autonomous systems, including robots and drones, face significant challenges when navigating through dynamic environments, particularly within urban settings where obstacles, fluctuating traffic, and pedestrian activity are constantly…

We address one of the main challenges towards autonomous quadrotor flight in complex environments, which is flight through narrow gaps. While previous works relied on off-board localization systems or on accurate prior knowledge of the gap…

Time-critical tasks such as drone racing typically cover large operation areas. However, it is difficult and computationally intensive for current time-optimal motion planners to accommodate long flight distances since a large yet unknown…

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…

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…