5 papers · 1 filter
Perception-Aware Time-Optimal Planning for Quadrotor Waypoint Flight
Chao Qin, Jiaxu Xing, Rudolf Reiter +4
Agile quadrotor flight pushes the limits of control, actuation, and onboard perception. While time-optimal trajectory planning has been extensively studied, existing approaches typ…
Temporal Cascading of Planning and Control for Quadrotor MPC
Rudolf Reiter, Chao Qin, Leonard Bauersfeld +1
Many aerial tasks involving quadrotors demand both instant reactivity and long-horizon planning for obstacle avoidance, energy efficiency, or trajectory tracking. High-fidelity mod…
Agentic Aerial Cinematography: From Dialogue Cues to Cinematic Trajectories
Yifan Lin, Sophie Ziyu Liu, Ran Qi +4
We present Agentic Aerial Cinematography: From Dialogue Cues to Cinematic Trajectories (ACDC), an autonomous drone cinematography system driven by natural language communication be…
Time-Optimal Planning for Long-Range Quadrotor Flights: An Automatic Optimal Synthesis Approach
Chao Qin, Jingxiang Chen, Yifan Lin +3
Time-critical tasks such as drone racing typically cover large operation areas. However, it is difficult and computationally intensive for current time-optimal motion planners to a…
Time-Optimal Gate-Traversing Planner for Autonomous Drone Racing
Chao Qin, Maxime S. J. Michet, Jingxiang Chen +1
In drone racing, the time-minimum trajectory is affected by the drone's capabilities, the layout of the race track, and the configurations of the gates (e.g., their shapes and size…