290 citations · 601 across the 7 of their papers we have counts for
7 papers
Nonlinear Controller Design for a Quadrotor with Inverted Pendulum
Xichen Shi, Yashwanth Kumar Nakka
The quadrotor is a degrees-of-freedom (DoF) system with underactuation. Adding a spherical pendulum on top of a quadrotor further complicates the task of achieving any output t…
Neural-Fly Enables Rapid Learning for Agile Flight in Strong Winds
Michael O'Connell, Guanya Shi, Xichen Shi +4
Executing safe and precise flight maneuvers in dynamic high-speed winds is important for the ongoing commoditization of uninhabited aerial vehicles (UAVs). However, because the rel…
Meta-Learning-Based Robust Adaptive Flight Control Under Uncertain Wind Conditions
Michael O'Connell, Guanya Shi, Xichen Shi +1
Realtime model learning proves challenging for complex dynamical systems, such as drones flying in variable wind conditions. Machine learning technique such as deep neural networks…
Neural-Swarm2: Planning and Control of Heterogeneous Multirotor Swarms using Learned Interactions
Guanya Shi, Wolfgang Hönig, Xichen Shi +2
We present Neural-Swarm2, a learning-based method for motion planning and control that allows heterogeneous multirotors in a swarm to safely fly in close proximity. Such operation…
Numerical Predictive Control for Delay Compensation
Xichen Shi, Michael O'Connell, Soon-Jo Chung
We present a delay-compensating control method that transforms exponentially stabilizing controllers for an undelayed system into a sample-based predictive controller with numerica…
Adaptive Nonlinear Control of Fixed-Wing VTOL with Airflow Vector Sensing
Xichen Shi, Patrick Spieler, Ellande Tang +3
Fixed-wing vertical take-off and landing (VTOL) aircraft pose a unique control challenge that stems from complex aerodynamic interactions between wings and rotors. Thus, accurate e…
Neural Lander: Stable Drone Landing Control using Learned Dynamics
Guanya Shi, Xichen Shi, Michael O'Connell +5
Precise near-ground trajectory control is difficult for multi-rotor drones, due to the complex aerodynamic effects caused by interactions between multi-rotor airflow and the enviro…