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cs.RO2024★ 1 cited
CGD: Constraint-Guided Diffusion Policies for UAV Trajectory Planning
Kota Kondo, Andrea Tagliabue, Xiaoyi Cai +4
Traditional optimization-based planners, while effective, suffer from high computational costs, resulting in slow trajectory generation. A successful strategy to reduce computation…
cs.RO2022
Robust, High-Rate Trajectory Tracking on Insect-Scale Soft-Actuated Aerial Robots with Deep-Learned Tube MPC
Andrea Tagliabue, Yi-Hsuan Hsiao, Urban Fasel +4
Accurate and agile trajectory tracking in sub-gram Micro Aerial Vehicles (MAVs) is challenging, as the small scale of the robot induces large model uncertainties, demanding robust…