4 papers
Online Trajectory Optimization for Arbitrary-Shaped Mobile Robots via Polynomial Separating Hypersurfaces
Shuoye Li, Zhiyuan Song, Yulin Li +2
An emerging class of trajectory optimization methods enforces collision avoidance by jointly optimizing the robot's configuration and a separating hyperplane. However, as linear se…
LOONG: Online Time-Optimal Autonomous Flight for MAVs in Cluttered Environments
Xin Guan, Fangguo Zhao, Qianyi Wang +3
Autonomous flight of micro air vehicles (MAVs) in unknown, cluttered environments remains challenging for time-critical missions due to conservative maneuvering strategies. This ar…
Rethinking Reference Trajectories in Agile Drone Racing: A Unified Reference-Free Model-Based Controller via MPPI
Fangguo Zhao, Xin Guan, Shuo Li
While model-based controllers have demonstrated remarkable performance in autonomous drone racing, their performance is often constrained by the reliance on pre-computed reference…
FLARE: Agile Flights for Quadrotor Cable-Suspended Payload System via Reinforcement Learning
Dongcheng Cao, Jin Zhou, Xian Wang +1
Agile flight for the quadrotor cable-suspended payload system is a formidable challenge due to its underactuated, highly nonlinear, and hybrid dynamics. Traditional optimization-ba…