81 citations · 213 across the 20 of their papers we have counts for
23 papers
ClearNav: Perception-Aligned Quadrotor Flight Using Differential-Physics
Aditya Azad, Arthur Huang, Guanrui Li
Autonomous quadrotor flight in cluttered environment is an key capability for tasks like inspection and search. Navigation policies trained in simulation and transferred to hardwar…
We Have Been Interpreting Diffusion Transformer Backbone Behaviors Wrong
Benyuan Meng, Longtao Huang, Yang Liu +1
During a network forward call, diffusion backbones naturally produce many intermediate activations. If we evaluate each activation against an identical downstream benchmarking prot…
DQ-MPCC: Dual-Quaternion MPCC for Quadrotor Racing
Bryan S. Guevara, Luis F. Recalde, Guanrui Li +1
Quadrotor racing demands aggressive attitude and progress control while passing through every gate, and conventional quadrotor MPCC formulations state the prediction model in inert…
VBT-MPC: Vision-Based Tactile MPC for Contour Following
Edison Velasco-Sanchez, Luis F. Recalde, Guanrui Li +1
Tactile sensing plays a key role in robotic manipulation, particularly in tasks like surface inspection. Successful execution requires maintaining contact while accurately tracking…
DQ-NMPC: Dual-Quaternion NMPC for Quadrotor Flight
Luis F. Recalde, Dhruv Agrawal, Jon Arrizabalaga +1
MAVs have great potential to assist humans in complex tasks, with applications ranging from logistics to emergency response. Their agility makes them ideal for operations in comple…
PolyFly: Polytopic Optimal Planning for Collision-Free Cable-Suspended Aerial Payload Transportation
Mrunal Sarvaiya, Guanrui Li, Giuseppe Loianno
Aerial transportation robots using suspended cables have emerged as versatile platforms for disaster response and rescue operations. To maximize the capabilities of these systems,…
Trajectory Planning Using Safe Ellipsoidal Corridors as Projections of Orthogonal Trust Regions
Akshay Jaitly, Jon Arrizabalaga, Guanrui Li
Planning collision free trajectories in complex environments remains a core challenge in robotics. Existing corridor based planners which rely on decomposition of the free space in…
Intuitive Human-Drone Collaborative Navigation in Unknown Environments through Mixed Reality
Sanket A. Salunkhe, Pranav Nedunghat, Luca Morando +3
Considering the widespread integration of aerial robots in inspection, search and rescue, and monitoring tasks, there is a growing demand to design intuitive human-drone interfaces…
ES-HPC-MPC: Exponentially Stable Hybrid Perception Constrained MPC for Quadrotor with Suspended Payloads
Luis F. Recalde, Mrunal Sarvaiya, Giuseppe Loianno +1
Aerial transportation using quadrotors with cable-suspended payloads holds great potential for applications in disaster response, logistics, and infrastructure maintenance. However…
Optimal Trajectory Planning for Cooperative Manipulation with Multiple Quadrotors Using Control Barrier Functions
Arpan Pallar, Guanrui Li, Mrunal Sarvaiya +1
In this paper, we present a novel trajectory planning algorithm for cooperative manipulation with multiple quadrotors using control barrier functions (CBFs). Our approach addresses…
HPA-MPC: Hybrid Perception-Aware Nonlinear Model Predictive Control for Quadrotors with Suspended Loads
Mrunal Sarvaiya, Guanrui Li, Giuseppe Loianno
Quadrotors equipped with cable-suspended loads represent a versatile, low-cost, and energy efficient solution for aerial transportation, construction, and manipulation tasks. Howev…
DualQuat-LOAM: LiDAR Odometry and Mapping parametrized on Dual Quaternions
Edison P. Velasco-Sánchez, Luis F. Recalde, Guanrui Li +3
This paper reports on a novel method for LiDAR odometry estimation, which completely parameterizes the system with dual quaternions. To accomplish this, the features derived from t…
Decentralized Nonlinear Model Predictive Control for Safe Collision Avoidance in Quadrotor Teams with Limited Detection Range
Manohari Goarin, Guanrui Li, Alessandro Saviolo +1
Multi-quadrotor systems face significant challenges in decentralized control, particularly with safety and coordination under sensing and communication limitations. State-of-the-ar…
Experimental System Design of an Active Fault-Tolerant Quadrotor
Jennifer Yeom, Roshan Balu T M B, Guanrui Li +1
Quadrotors have gained popularity over the last decade, aiding humans in complex tasks such as search and rescue, mapping and exploration. Despite their mechanical simplicity and v…
Geometric Fault-Tolerant Control of Quadrotors in Case of Rotor Failures: An Attitude Based Comparative Study
Jennifer Yeom, Guanrui Li, Giuseppe Loianno
The ability of aerial robots to operate in the presence of failures is crucial in various applications that demand continuous operations, such as surveillance, monitoring, and insp…
Nonlinear Model Predictive Control for Cooperative Transportation and Manipulation of Cable Suspended Payloads with Multiple Quadrotors
Guanrui Li, Giuseppe Loianno
Autonomous Micro Aerial Vehicles (MAVs) such as quadrotors equipped with manipulation mechanisms have the potential to assist humans in tasks such as construction and package deliv…
Human-Aware Physical Human-Robot Collaborative Transportation and Manipulation with Multiple Aerial Robots
Guanrui Li, Xinyang Liu, Giuseppe Loianno
Human-robot interaction will play an essential role in various industries and daily tasks, enabling robots to effectively collaborate with humans and reduce their physical workload…
Vision-based Relative Detection and Tracking for Teams of Micro Aerial Vehicles
Rundong Ge, Moonyoung Lee, Vivek Radhakrishnan +3
In this paper, we address the vision-based detection and tracking problems of multiple aerial vehicles using a single camera and Inertial Measurement Unit (IMU) as well as the corr…
Physics-Inspired Temporal Learning of Quadrotor Dynamics for Accurate Model Predictive Trajectory Tracking
Alessandro Saviolo, Guanrui Li, Giuseppe Loianno
Accurately modeling quadrotor's system dynamics is critical for guaranteeing agile, safe, and stable navigation. The model needs to capture the system behavior in multiple flight r…
RotorTM: A Flexible Simulator for Aerial Transportation and Manipulation
Guanrui Li, Xinyang Liu, Giuseppe Loianno
Low-cost autonomous Micro Aerial Vehicles (MAVs) have the potential to help humans by simplifying and speeding up complex tasks that require their interaction with the environment,…
Learning Model Predictive Control for Quadrotors
Guanrui Li, Alex Tunchez, Giuseppe Loianno
Aerial robots can enhance their safe and agile navigation in complex and cluttered environments by efficiently exploiting the information collected during a given task. In this pap…
Aggressive Visual Perching with Quadrotors on Inclined Surfaces
Jeffrey Mao, Guanrui Li, Stephen Nogar +2
Autonomous Micro Aerial Vehicles (MAVs) have the potential to be employed for surveillance and monitoring tasks. By perching and staring on one or multiple locations aerial robots…
PCMPC: Perception-Constrained Model Predictive Control for Quadrotors with Suspended Loads using a Single Camera and IMU
Guanrui Li, Alex Tunchez, Giuseppe Loianno
In this paper, we address the Perception--Constrained Model Predictive Control (PCMPC) and state estimation problems for quadrotors with cable suspended payloads using a single cam…