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cs.RO2025
TACO: Trajectory-Aware Controller Optimization for Quadrotors
Hersh Sanghvi, Spencer Folk, Vijay Kumar +1
Controller performance in quadrotor trajectory tracking depends heavily on parameter tuning, yet standard approaches often rely on fixed, manually tuned parameters that sacrifice t…
cs.RO2025
Quad-LCD: Layered Control Decomposition Enables Actuator-Feasible Quadrotor Trajectory Planning
Anusha Srikanthan, Hanli Zhang, Spencer Folk +2
In this work, we specialize contributions from prior work on data-driven trajectory generation for a quadrotor system with motor saturation constraints. When motors saturate in qua…