153 citations · 787 across the 32 of their papers we have counts for
8 papers · 2 filters
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…
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…
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…
Dynamical Vehicle Orienteering Problem for Multi-Rotor Unmanned Aerial Vehicles
František Nekovář, Matej Novosad, Martin Saska +1
This paper introduces the Dynamical Vehicle Orienteering Problem (DVOP), a generalization of the Orienteering Problem (OP). The OP maximizes the reward collected from spatial targe…
Motor Angular Speed Preintegration for Multirotor UAV State Estimation
Matěj Petrlík, Filip Novák, Robert Pěnička +1
A precise state estimate is crucial for a tight feedback control that enables agile and near-obstacle flights of UAVs. The state-of-the-art methods fuse slow pose measurements with…
Autonomous Inspection of Power Line Insulators with UAV on an Unmapped Transmission Tower
Václav Riss, Vít Krátký, Robert Pěnička +1
This paper introduces an online inspection algorithm that enables an autonomous UAV to fly around a transmission tower and obtain detailed inspection images without a prior map of…
Onboard UAV State Estimation for Fast Flights Without External Localization Systems: A2RL Drone Racing Finalist Approach
Filip Novák, Matěj Petrlík, Matej Novosad +3
Fast flights with aggressive maneuvers in cluttered GNSS-denied environments require fast, reliable, and accurate UAV state estimation. In this paper, we present an approach for on…