4 papers · 1 filter
Dense Fixed-Wing Swarming using Receding-Horizon NMPC
Varun Madabushi, Yocheved Kopel, Adam Polevoy +1
In this paper, we present an approach for controlling a team of agile fixed-wing aerial vehicles in close proximity to one another. Our approach relies on receding-horizon nonlinea…
Multi-Agent Feedback Motion Planning using Probably Approximately Correct Nonlinear Model Predictive Control
Mark Gonzales, Adam Polevoy, Marin Kobilarov +1
For many tasks, multi-robot teams often provide greater efficiency, robustness, and resiliency. However, multi-robot collaboration in real-world scenarios poses a number of major c…
Post-Stall Navigation with Fixed-Wing UAVs using Onboard Vision
Adam Polevoy, Max Basescu, Luca Scheuer +1
Recent research has enabled fixed-wing unmanned aerial vehicles (UAVs) to maneuver in constrained spaces through the use of direct nonlinear model predictive control (NMPC). Howeve…
High-Speed Robot Navigation using Predicted Occupancy Maps
Kapil D. Katyal, Adam Polevoy, Joseph Moore +2
Safe and high-speed navigation is a key enabling capability for real world deployment of robotic systems. A significant limitation of existing approaches is the computational bottl…