153 citations · 1.2k across the 106 of their papers we have counts for
109 papers
NMPP: Nonlinear Model Predictive Planning for Agile UAV Flight in Cluttered Environments
Ondřej Procházka, Juraj Pauko, Robert Pěnička +1
Flying a quadrotor through a cluttered environment requires not only planning a collision-free reference trajectory based on perceived obstacles, but the reference also needs to be…
Towards Agile Vision-Based Multi-UAV Flight: Revisiting State Estimation
Michal Pliska, Matouš Vrba, Ondřej Víta +3
Agile multi-UAV flight requires accurate and low-latency onboard estimation of the kinematic states of neighboring UAVs for collision avoidance, motion coordination, etc. Most visi…
L1-MPPI: L1 Adaptive Model Predictive Path Integral for Agile UAV Control
Lukáš Kotek, Ondřej Procházka, Vojtěch Vonásek +2
This work proposes the L1 Adaptive Model Predictive Path Integral (L1-MPPI). It cascades L1 adaptive control with the Model Predictive Path Integral (MPPI) to improve tracking of h…
Tilt as a Certified Resource: Preserving Motor Wrench-Rate Authority on Articulated Multirotors
Giuseppe Silano, Martin Saska
Fully-actuated multirotor aerial vehicles must not only track nominal wrenches but retain the "readiness" to modulate them rapidly under disturbances. Classical effort-minimizing a…
FF-MPCC: High-speed Agile Formation Flight with Model Predictive Contouring Control
Aditya Dandwate, Vit Kratky, Parakh M. Gupta +2
Flying in a prescribed formation in an agile manner remains a challenging problem in the field of UAVs, particularly when following highly-demanding trajectories that require fligh…
BC-NMPC: Battery-Constrained NMPC with Propulsion Prediction and Replanning for High-Speed Flight
Parakh M. Gupta, Matej Mihulka, Matej Novosad +2
Trajectory tracking performance of Uncrewed Aerial Vehicles (UAVs) degrades during an agile high-speed flight due to the depletion of the battery and subsequent loss of maximum ava…