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cs.RO2023
Robust Perception-Based Navigation using PAC-NMPC with a Learned Value Function
Adam Polevoy, Mark Gonzales, Marin Kobilarov +1
Nonlinear model predictive control (NMPC) is typically restricted to short, finite horizons to limit the computational burden of online optimization. As a result, global planning f…
cs.RO2023
Planning and Control for a Dynamic Morphing-Wing UAV Using a Vortex Particle Model
Gino Perrotta, Luca Scheuer, Yocheved Kopel +4
Achieving precise, highly-dynamic maneuvers with Unmanned Aerial Vehicles (UAVs) is a major challenge due to the complexity of the associated aerodynamics. In particular, unsteady…