5 papers
PocketDP3: Efficient Pocket-Scale 3D Visuomotor Policy
Jinhao Zhang, Zhexuan Zhou, Huizhe Li +5
Recently, 3D vision-based diffusion policies have shown strong capability in learning complex robotic manipulation skills. However, a common architectural mismatch exists in these…
Acetrans: An Autonomous Corridor-Based and Efficient UAV Suspended Transport System
Weiyan Lu, Huizhe Li, Yuhao Fang +5
Unmanned aerial vehicles (UAVs) with suspended payloads offer significant advantages for aerial transportation in complex and cluttered environments. However, existing systems face…
Nonlinear Model Predictive Control for Leaderless UAV Formation Flying with Collision Avoidance under Directed Graphs
Yiming Wang, Yao Fang, Jie Mei +2
This paper studies the leaderless formation flying problem with collision avoidance for a group of unmanned aerial vehicles (UAVs), which requires the UAVs to navigate through clut…
SEAL: Safety Enhanced Trajectory Planning and Control Framework for Quadrotor Flight in Complex Environments
Yiming Wang, Jianbin Ma, Junda Wu +5
For quadrotors, achieving safe and autonomous flight in complex environments with wind disturbances and dynamic obstacles still faces significant challenges. Most existing methods…
STORM: Spatial-Temporal Iterative Optimization for Reliable Multicopter Trajectory Generation
Jinhao Zhang, Zhexuan Zhou, Wenlong Xia +2
Efficient and safe trajectory planning plays a critical role in the application of quadrotor unmanned aerial vehicles. Currently, the inherent trade-off between constraint complian…