相关论文: How to Drawjectory? -- Trajectory Planning using P…

A complete model of quadcopter motion for the task of dynamic positioning at a specified point is derived. Based on this model, two control algorithms are proposed. The first one generalizes previously obtained results to the case of a…

In this paper, we propose a complete and robust motion planning system for the aggressive flight of autonomous quadrotors. The proposed method is built upon on a classical teach-and-repeat framework, which is widely adopted in…

While Unmanned Aerial Vehicles (UAVs) have gained significant traction across various fields, path planning in 3D environments remains a critical challenge, particularly under size, weight, and power (SWAP) constraints. Traditional modular…

Quadcopters have been studied for decades thanks to their maneuverability and capability of operating in a variety of circumstances. However, quadcopters suffer from dynamical nonlinearity, actuator saturation, as well as sensor noise that…

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…

Quadcopter trajectory tracking control has been extensively investigated and implemented in the past. Available controls mostly use the Euler angle standards to describe the quadcopters rotational kinematics and dynamics. As a result, the…

This paper focuses on developing a bearings-only measurement-based three-dimensional window traversal guidance method for quadrotor Uninhabitated Aerial Vehicles (UAVs). The desired flight path and heading angles of the quadrotor are…

In this paper, we present an innovative technique for the path planning of flying robots in a 3D environment in Rough Mereology terms. The main goal was to construct the algorithm that would generate the mereological potential fields in…

This article presents a three-dimensional nonlinear trajectory tracking control strategy for unmanned aerial vehicles (UAVs) in the presence of spatial constraints. As opposed to many existing control strategies, which do not consider…

We present an optimization-based framework for multicopter trajectory planning subject to geometrical configuration constraints and user-defined dynamic constraints. The basis of the framework is a novel trajectory representation built upon…

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…

Inspection of large building is an important task since it can prevent material and human losses. A cheap and fast way to do the inspections is by sensors mounted on quadrotor vehicles. The challenge here is to compute a trajectory so that…

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 this paper, we present a deep reinforcement learning method for quadcopter bypassing the obstacle on the flying path. In the past study, the algorithm only controls the forward direction about quadcopter. In this letter, we use two…

This paper presents a spatial-based trajectory planning method for automated vehicles under actuator, obstacle avoidance, and vehicle dimension constraints. Starting from a nonlinear kinematic bicycle model, vehicle dynamics are transformed…

Time-jerk optimal trajectory planning is crucial in advancing robotic arms' performance in dynamic tasks. Traditional methods rely on solving complex nonlinear programming problems, bringing significant delays in generating optimized…

This work presents a two part framework for online planning and execution of dynamic aerial motions on a quadruped robot. Motions are planned via a centroidal momentum-based nonlinear optimization that is general enough to produce rich sets…

Quadrotors are agile flying robots that are challenging to control. Considering the full dynamics of quadrotors during motion planning is crucial to achieving good solution quality and small tracking errors during flight. Optimization-based…

It is often necessary for drones to complete delivery, photography, and rescue in the shortest time to increase efficiency. Many autonomous drone races provide platforms to pursue algorithms to finish races as quickly as possible for the…

Trajectory simplification is a problem encountered in areas like Robot programming by demonstration, CAD/CAM, computer vision, and in GPS-based applications like traffic analysis. This problem entails reduction of the points in a given…