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Fast and Robust Temporal Logic Planning via ADMM-based Trajectory Optimization
Lukas Pries, Joris Verhagen, Jon Arrizabalaga +3
We present a fast numerical method for safe continuous-time motion planning under Temporal Logic (TL) specifications. The method generates smooth continuous trajectories that remai…
Control of Fully Actuated Aerial Vehicles: A Comparison of Model-based and Sensor-based Dynamic Inversion
Ali Sidar Yilmaz, Buday Turan, Lukas Pries +1
Fully actuated multirotor platforms decouple translational force generation from vehicle attitude, enabling independent control of position and orientation and shifting performance…
ADMM-based Continuous Trajectory Optimization in Graphs of Convex Sets
Lukas Pries, Jon Arrizabalaga, Zachary Manchester +1
This paper presents a numerical solver for computing continuous trajectories in non-convex environments. Our approach relies on a customized implementation of the Alternating Direc…
Learning Robust Agile Flight Control with Stability Guarantees
Lukas Pries, Markus Ryll
In the evolving landscape of high-speed agile quadrotor flight, achieving precise trajectory tracking at the platform's operational limits is paramount. Controllers must handle act…