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07/12/2023
Agilicious: Open-Source and Open-Hardware Agile Quadrotor for Vision-Based Flight
Autonomous, agile quadrotor flight raises fundamental challenges for rob...
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01/20/2023
Nonlinear MPC for Full-Pose Manipulation of a Cable-Suspended Load using Multiple UAVs
In this work, we propose a centralized control method based on nonlinear...
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02/13/2022
Perception-Aware Perching on Powerlines with Multirotors
Multirotor aerial robots are becoming widely used for the inspection of ...
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09/27/2021
Nonlinear MPC for Quadrotor Fault-Tolerant Control
The mechanical simplicity, hover capabilities, and high agility of quadr...
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09/09/2021
Performance, Precision, and Payloads: Adaptive Nonlinear MPC for Quadrotors
Agile quadrotor flight in challenging environments has the potential to ...
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09/03/2021
A Comparative Study of Nonlinear MPC and Differential-Flatness-Based Control for Quadrotor Agile Flight
Accurate trajectory tracking control for quadrotors is essential for saf...
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08/30/2021
Model Predictive Contouring Control for Near-Time-Optimal Quadrotor Flight
We tackle the problem of flying time-optimal trajectories through multip...
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06/15/2021
NeuroBEM: Hybrid Aerodynamic Quadrotor Model
Quadrotors are extremely agile, so much in fact, that classic first-prin...
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02/26/2021
Autonomous Quadrotor Flight despite Rotor Failure with Onboard Vision Sensors: Frames vs. Events
Fault-tolerant control is crucial for safety-critical systems, such as q...
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02/12/2021
Fast Fault Detection on a Quadrotor using Onboard Sensors and a Kalman Filter Approach
This paper presents a novel method for fast and robust detection of actu...
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02/21/2020
Upset Recovery Control for Quadrotors Subjected to a Complete Rotor Failure from Large Initial Disturbances
This study has developed a fault-tolerant controller that is able to rec...
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02/18/2020