39 citations · 250 across the 45 of their papers we have counts for
8 papers · 1 filter
Design and Model Predictive Control of Mars Coaxial Quadrotor
Akash Patel, Avijit Banerjee, Bjorn Lindqvist +2
Mars has been a prime candidate for planetary exploration of the solar system because of the science discoveries that support chances of future habitation on this planet. Martian c…
Collision avoidance for multiple MAVs using fast centralized NMPC
Björn Lindqvist, Sina Sharif Mansouri, Pantelis Sopasakis +1
This article proposes a novel control architecture using a centralized nonlinear model predictive control (CNMPC) scheme for controlling multiple micro aerial vehicles (MAVs). The…
COMPRA: A COMPact Reactive Autonomy framework for subterranean MAV based search-and-rescue operations
Björn Lindqvist, Christoforos Kanellakis, Sina Sharif Mansouri +2
This work establishes COMPRA, a compact and reactive autonomy framework for fast deployment of Micro Aerial Vehicles (MAVs) in subterranean Search-and-Rescue (SAR) missions. A COMP…
A Scalable Distributed Collision Avoidance Scheme for Multi-agent UAV systems
Björn Lindqvist, Pantelis Sopasakis, George Nikolakopoulos
In this article we propose a distributed collision avoidance scheme for multi-agent unmanned aerial vehicles(UAVs) based on nonlinear model predictive control (NMPC),where other ag…
Exploration-RRT: A multi-objective Path Planning and Exploration Framework for Unknown and Unstructured Environments
Björn Lindqvist, Ali-akbar Agha-mohammadi, George Nikolakopoulos
This article establishes the Exploration-RRT algorithm: A novel general-purpose combined exploration and pathplanning algorithm, based on a multi-goal Rapidly-Exploring Random Tree…
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge
Ali Agha, Kyohei Otsu, Benjamin Morrell +69
This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARP…
Slider: On the Design and Modeling of a 2D Floating Satellite Platform
Avijit Banerjee, Jakub Haluska, Sumeet G. Satpute +2
In this article, a floating robotic emulation platform for a virtual demonstration of satellite motion in space is presented. The robotic platform design is characterized by its fr…
Geometry Aware NMPC Scheme for Morphing Quadrotor Navigation in Restricted Entrances
Andreas Papadimitriou, Sina Sharif Mansouri, Christoforos Kanellakis +1
Geometry-morphing Micro Aerial Vehicles (MAVs) are gaining more and more attention lately, since their ability to modify their geometric morphology in-flight increases their versat…