3 papers
cs.RO2025
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…
cs.RO2025
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…
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…