相关论文: Mapless Collision-Free Flight via MPC using Dual K…

This letter considers cascaded model predictive control (MPC) as a computationally lightweight method for controlling a tandem-rotor helicopter. A traditional single MPC structure is split into separate outer and inner-loops. The outer-loop…

Many existing obstacle avoidance algorithms overlook the crucial balance between safety and agility, especially in environments of varying complexity. In our study, we introduce an obstacle avoidance pipeline based on reinforcement…

This paper introduces a neural Nonlinear Model Predictive Control (NMPC) framework for mapless, collision-free navigation in unknown environments with Aerial Robots, using onboard range sensing. We leverage deep neural networks to encode a…

This research addresses the increasing demand for advanced navigation systems capable of operating within confined surroundings. A significant challenge in this field is developing an efficient planning framework that can generalize across…

This paper presents the design, implementation, and flight test results of two novel 3D path-following guidance algorithms based on nonlinear model predictive control (MPC), with specific application to fixed-wing small uncrewed aircraft…

This paper presents a new trajectory planning method for multiple quadrotors in obstacle-dense environments. We suggest a relative safe flight corridor (RSFC) to model safe region between a pair of agents, and it is used to generate linear…

This paper presents MADER, a 3D decentralized and asynchronous trajectory planner for UAVs that generates collision-free trajectories in environments with static obstacles, dynamic obstacles, and other planning agents. Real-time collision…

This work presents a distributed method for multi-vehicle coordination based on nonlinear model predictive control (NMPC) and dual decomposition. Our approach allows the vehicles to coordinate in tight spaces (e.g., busy highway lanes or…

With advancements in technology, commercial aircraft formation flying is becoming increasingly feasible as an efficient and environmentally friendly flight method. However, gaps remain in practical implementation, particularly in collision…

The implementation of optimization-based motion coordination approaches in real world multi-agent systems remains challenging due to their high computational complexity and potential deadlocks. This paper presents a distributed model…

This paper proposes vehicle motion planning methods with obstacle avoidance in tight spaces by incorporating polygonal approximations of both the vehicle and obstacles into a model predictive control (MPC) framework. Representing these…

We present an algorithm that produces a plan for relocating obstacles in order to grasp a target in clutter by a robotic manipulator without collisions. We consider configurations where objects are densely populated in a constrained and…

One of the most challenging tasks for a flying robot is to autonomously navigate between target locations quickly and reliably while avoiding obstacles in its path, and with little to no a-priori knowledge of the operating environment. This…

Collision-free planning is essential for bipedal robots operating within unstructured environments. This paper presents a real-time Model Predictive Control (MPC) framework that addresses both body and foot avoidance for dynamic bipedal…

This paper proposes a solution to the problem of smooth path planning for mobile robots in dynamic and unknown environments. A novel concept of Time-Warped Grid is introduced to predict the pose of obstacles in the environment and avoid…

Recently, neural control policies have outperformed existing model-based planning-and-control methods for autonomously navigating quadrotors through cluttered environments in minimum time. However, they are not perception aware, a crucial…

We address the problem of reactive motion planning for quadrotors operating in unknown environments with dynamic obstacles. Our approach leverages a 4-dimensional spatio-temporal planner, integrated with vision-based Safe Flight Corridor…

This article proposes a Novel Nonlinear Model Predictive Control (NMPC) for navigation and obstacle avoidance of an Unmanned Aerial Vehicle (UAV). The proposed NMPC formulation allows for a fully parametric obstacle trajectory, while in…

For large-scale tasks, coverage path planning (CPP) can benefit greatly from multiple robots. In this paper, we present an efficient algorithm MSTC* for multi-robot coverage path planning (mCPP) based on spiral spanning tree coverage…

We present the first static-obstacle avoidance method for quadrotors using just an onboard, monocular event camera. Quadrotors are capable of fast and agile flight in cluttered environments when piloted manually, but vision-based autonomous…