相关论文: Primitive-Planner: An Ultra Lightweight Quadrotor …

Recent advances in trajectory replanning have enabled quadrotor to navigate autonomously in unknown environments. However, high-speed navigation still remains a significant challenge. Given very limited time, existing methods have no strong…

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…

Quadrotors with large thrust-to-weight ratios are able to track aggressive trajectories with sharp turns and high accelerations. In this work, we develop a search-based trajectory planning approach that exploits the quadrotor…

Trajectory planning for quadrotors in cluttered environments has been challenging in recent years. While many trajectory planning frameworks have been successful, there still exists potential for improvements, particularly in enhancing the…

This paper contributes a method to design a novel navigation planner exploiting a learning-based collision prediction network. The neural network is tasked to predict the collision cost of each action sequence in a predefined motion…

This paper presents a method for online trajectory planning in known environments. The proposed algorithm is a fusion of sampling-based techniques and model-based optimization via quadratic programming. The former is used to efficiently…

This paper presents a scalable online algorithm to generate safe and kinematically feasible trajectories for quadrotor swarms. Existing approaches rely on linearizing Euclidean distance-based collision constraints and on axis-wise…

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…

In many mobile robotics scenarios, such as drone racing, the goal is to generate a trajectory that passes through multiple waypoints in minimal time. This problem is referred to as time-optimal planning. State-of-the-art approaches either…

Quadrotors are agile platforms. With human experts, they can perform extremely high-speed flights in cluttered environments. However, fully autonomous flight at high speed remains a significant challenge. In this work, we propose a motion…

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 novel strategy to compute minimum-time trajectories for quadrotors. In particular, we consider the motion in constrained environments, taking into account the physical limitations of the vehicle. Instead of…

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…

We present a hierarchical framework for motion planning of a large collection of agents. The proposed framework starts from low level motion primitives over a gridded workspace and provides a set of rules for constructing higher level…

In drone racing, the time-minimum trajectory is affected by the drone's capabilities, the layout of the race track, and the configurations of the gates (e.g., their shapes and sizes). However, previous studies neglect the configuration of…

Quadrotors hold significant promise for several applications such as agriculture, search and rescue, and infrastructure inspection. Achieving autonomous operation requires systems to navigate safely through complex and unfamiliar…

We consider the problem of generating a time-optimal quadrotor trajectory that attains a set of prescribed waypoints. This problem is challenging since the optimal trajectory is located on the boundary of the set of dynamically feasible…

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…

In this paper, we present a motion planning strategy for UAVs that generates a time-optimal trajectory to survey a given target area. There are several situations where completing an aerial survey is time sensitive, such as gaining…

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…