Agile quadrotor flight in challenging environments has the potential to revolutionize shipping, transportation, and search and rescue applications. Nonlinear model predictive control (NMPC) has recently shown promising results for agile quadrotor …
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 task - …
The mechanical simplicity, hover capabilities, and high agility of quadrotors lead to a fast adaption in the industry for inspection, exploration, and urban aerial mobility. On the other hand, the unstable and underactuated dynamics of quadrotors …
Accurate trajectory tracking control for quadrotors is essential for safe navigation in cluttered environments. However, this is challenging in agile flights due to nonlinear dynamics, complex aerodynamic effects, and actuation constraints. In this …
Quadrotors are extremely agile, so much in fact, that classic first-principle-models come to their limits. Aerodynamic effects, while insignificant at low speeds, become the dominant model defect during high speeds or agile maneuvers. Accurate …
Aerodynamic forces render accurate high-speed trajectory tracking with quadrotors extremely challenging. These complex aerodynamic effects become a significant disturbance at high speeds, introducing large positional tracking errors, and are …
Autonomous micro aerial vehicles still struggle with fast and agile maneuvers, dynamic environments, imperfect sensing, and state estimation drift. Autonomous drone racing brings these challenges to the fore. Human pilots can fly a previously unseen …
We present the first perception-aware model predictive control framework for quadrotors that unifies control and planning with respect to action and perception objectives. Our framework leverages numerical optimization to compute trajectories that …
State-of-the-art approaches in quadrotor control split the problem into multiple cascaded subproblems, exploiting the different time scales of the rotational and translational dynamics. They calculate a desired acceleration as input for a cascaded …
Executing agile quadrotor maneuvers with cablesuspended payloads is a challenging problem and complications induced by the dynamics typically require trajectory optimization. State-of-the-art approaches often need significant computation time and …