Quadrotors are amongst the most agile flying robots. However, planning time-optimal trajectories at the actuation limit through multiple waypoints remains an open problem. This is crucial for applications such as inspection, delivery, search and …
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 …
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 …