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A Forward-Inverse Dynamic Game Framework for Enhanced Multi-Agent Trajectory Planning
Tianle Liu, Youcheng Niu, Jing Zeng +2
This paper studies feedback Nash equilibrium (FBNE) seeking for multi-agent trajectory planning in nonlinear dynamical systems with unknown agents' objectives and state-dependent i…
ASTER: Attitude-aware Suspended-payload Quadrotor Traversal via Efficient Reinforcement Learning
Dongcheng Cao, Jin Zhou, Shuo Li
Agile maneuvering of the quadrotor cable-suspended system is significantly hindered by its non-smooth hybrid dynamics. While model-free Reinforcement Learning (RL) circumvents expl…
MAVEN: A Meta-Reinforcement Learning Framework for Varying-Dynamics Expertise in Agile Quadrotor Maneuvers
Jin Zhou, Dongcheng Cao, Xian Wang +1
Reinforcement learning (RL) has emerged as a powerful paradigm for achieving online agile navigation with quadrotors. Despite this success, policies trained via standard RL typical…
Vision-Guided MPPI for Agile Drone Racing: Navigating Arbitrary Gate Poses via Neural Signed Distance Fields
Fangguo Zhao, Hanbing Zhang, Zhouheng Li +2
Autonomous drone racing requires the tight coupling of perception, planning, and control under extreme agility. However, recent approaches typically rely on precomputed spatial ref…
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…