相关论文: Vision-Based System Identification of a Quadrotor

In this paper a position-tracking controller for quadrotors based on perception feedback is developed, which directly uses measurements from onboard sensors such as low cost IMUs and GPS to generate the control commands without state…

For safe vision-based control applications, perception-related constraints have to be satisfied in addition to other state constraints. In this paper, we deal with the problem where a multirotor equipped with a camera needs to maintain 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…

Visual navigation algorithms for quadrotors often exhibit a large variation in performance when transferred across different vehicle platforms and scene geometries, which increases the cost and risk of field deployment. To support…

Quadrotors have gained popularity over the last decade, aiding humans in complex tasks such as search and rescue, mapping and exploration. Despite their mechanical simplicity and versatility compared to other types of aerial vehicles, they…

The periodic inspection of vessels is a fundamental task to ensure their integrity and avoid maritime accidents. Currently, these inspections represent a high cost for the ship owner, in addition to the danger that this kind of hostile…

Morphable design and depth-based visual control are two upcoming trends leading to advancements in the field of quadrotor autonomy. Stereo-cameras have struck the perfect balance of weight and accuracy of depth estimation but suffer from…

Recent quadrotors have transcended conventional designs, emphasizing more on foldable and reconfigurable bodies. The state of the art still focuses on the mechanical feasibility of such designs with limited discussions on the tracking…

A rotorcraft-based unmanned aerial vehicle exhibits more complex properties compared to its full-size counterparts due to its increased sensitivity to control inputs and disturbances and higher bandwidth of its dynamics. As an aerial…

This work addresses the problem of designing a visual servo controller for a multirotor vehicle, with the end goal of tracking a moving spherical target with unknown radius. To address this problem, we first transform two bearing…

The quadrotor unmanned aerial vehicle is a great platform for control systems research as its nonlinear nature and under-actuated configuration make it ideal to synthesize and analyze control algorithms. After a brief explanation of the…

The increasing popularity of quadrotors has given rise to a class of predominantly vision-driven vehicles. This paper addresses the problem of perception-aware time optimal path parametrization for quadrotors. Although many different…

Quadrotor systems are common and beneficial for many fields, but their intricate behavior often makes it challenging to design effective and optimal control strategies. Some traditional approaches to nonlinear control often rely on local…

Flying quadrotors in tight formations is a challenging problem. It is known that in the near-field airflow of a quadrotor, the aerodynamic effects induced by the propellers are complex and difficult to characterize. Although machine…

In this work, we specialize contributions from prior work on data-driven trajectory generation for a quadrotor system with motor saturation constraints. When motors saturate in quadrotor systems, there is an ``uncontrolled drift" of the…

Aerial robots can enhance their safe and agile navigation in complex and cluttered environments by efficiently exploiting the information collected during a given task. In this paper, we address the learning model predictive control problem…

Various studies on perception-aware planning have been proposed to enhance the state estimation accuracy of quadrotors in visually degraded environments. However, many existing methods heavily rely on prior environmental knowledge and face…

Agile quadrotor flight pushes the limits of control, actuation, and onboard perception. While time-optimal trajectory planning has been extensively studied, existing approaches typically neglect the tight coupling between vehicle dynamics,…

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…

Understanding and controlling engineered quantum systems is key to developing practical quantum technology. However, given the current technological limitations, such as fabrication imperfections and environmental noise, this is not always…