Planning

CPC: Complementary Progress Constraints for Time-Optimal Quadrotor Trajectories

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 use …

Beauty and the Beast: Optimal Methods Meet Learning for Drone Racing

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 …

PAMPC: Perception-Aware Model Predictive Control for Quadrotors

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 …

Fast Trajectory Optimization for Agile Quadrotor Maneuvers with a Cable-Suspended Payload

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 …