3 papers
eess.SY2025
New Insights into Cascaded Geometric Flight Control: From Performance Guarantees to Practical Pitfalls
Brett T. Lopez
We present a new stability proof for cascaded geometric control used by aerial vehicles tracking time-varying position trajectories. Our approach uses sliding variables and a recen…
cs.RO2025
STITCHER: Constrained Trajectory Planning in Complex Environments with Real-Time Motion Primitive Search
Helene J. Levy, Brett T. Lopez
Autonomous high-speed navigation through large, complex environments requires real-time generation of agile trajectories that are dynamically feasible, collision-free, and satisfy…
cs.RO2024
STITCHER: Real-Time Trajectory Planning with Motion Primitive Search
Helene J. Levy, Brett T. Lopez
Autonomous high-speed navigation through large, complex environments requires real-time generation of agile trajectories that are dynamically feasible, collision-free, and satisfy…