相关论文: Real-time Trajectory Optimization of Impaired Airc…

This paper demonstrates a refined approach to solving dynamic optimization problems for underactuated marine surface vessels. To this end the differential flatness of a mathematical model assuming full actuation is exploited to derive an…

Efficient real-time trajectory planning and control for fixed-wing unmanned aerial vehicles is challenging due to their non-holonomic nature, complex dynamics, and the additional uncertainties introduced by unknown aerodynamic effects. In…

Unmanned surface vessels (USVs) are widely used in ocean exploration and environmental protection fields. To ensure that USV can successfully perform its mission, trajectory planning and motion tracking are the two most critical…

Due to the strong nonlinearity and nonholonomic dynamics, despite the various general trajectory optimization methods presented, few of them can guarantee efficient computation and physical feasibility for relatively complicated fixed-wing…

As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…

This paper presents a numerical optimization algorithm for generating approach and landing trajectories for a six-degree-of-freedom (6-DoF) aircraft. We improve on the existing research on aircraft landing trajectory generation by…

Optimal collision-free formation control of the unmanned aerial vehicle (UAV) is a challenge. The state-of-the-art optimal control approaches often rely on numerical methods sensitive to initial guesses. This paper presents an innovative…

Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…

This paper proposes a nonlinear control architecture for flexible aircraft simultaneous trajectory tracking and load alleviation. By exploiting the control redundancy, the gust and maneuver loads are alleviated without degrading the…

This paper presents an integrated approach that combines trajectory optimization and Artificial Potential Field (APF) method for real-time optimal Unmanned Aerial Vehicle (UAV) trajectory planning and dynamic collision avoidance. A…

Given the evolving application scenarios of current fixed-wing unmanned aerial vehicles (UAVs), it is necessary for UAVs to possess agile and rapid 3-dimensional flight capabilities. Typically, the trajectory of a tail-sitter is generated…

This paper presents a data-driven optimal control policy for a micro flapping wing unmanned aerial vehicle. First, a set of optimal trajectories are computed off-line based on a geometric formulation of dynamics that captures the nonlinear…

We address the theoretical and practical problems related to the trajectory generation and tracking control of tail-sitter UAVs. Theoretically, we focus on the differential flatness property with full exploitation of actual UAV aerodynamic…

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…

In this paper, we describe a robust multi-drone planning framework for high-speed trajectories in large scenes. It uses a free-space-oriented map to free the optimization from cumbersome environment data. A capsule-like safety constraint is…

In this paper, we develop a computationally-efficient approach to minimum-time trajectory optimization using input-output data-based models, to produce an end-to-end data-to-control solution to time-optimal planning/control of dynamic…

Trajectory optimization with contact-rich behaviors has recently gained attention for generating diverse locomotion behaviors without pre-specified ground contact sequences. However, these approaches rely on precise models of robot dynamics…

Iterative trajectory optimization techniques for non-linear dynamical systems are among the most powerful and sample-efficient methods of model-based reinforcement learning and approximate optimal control. By leveraging time-variant local…

We study control systems invariant under a Lie group with application to the problem of nonlinear trajectory planning. A theory of symmetry reduction of exterior differential systems is employed to demonstrate how symmetry reduction and…

This paper proposes several nonlinear control strategies for trajectory tracking of a quadcopter system based on the property of differential flatness. Its originality is twofold. Firstly, it provides a flat output for the quadcopter…