3 papers
cs.RO2026
DR-IPC: Disturbance-Resilient Integrated Planning and Control for LiDAR-Based Quadrotor Navigation
Peng Liu, Jingyan Wang, Qipeng Ye +5
LiDAR-based quadrotor navigation in cluttered environments remains challenging under external disturbances, particularly when obstacle-aware motion generation and disturbance-rejec…
cs.RO2026
Autonomous UAV Pipeline Near-proximity Inspection via Disturbance-Aware Predictive Visual Servoing
Wen Li, Hui Wang, Jinya Su +3
Reliable pipeline inspection is critical to safe energy transportation, but is constrained by long distances, complex terrain, and risks to human inspectors. Unmanned aerial vehicl…
eess.SY2026
MPC as a Copilot: A Predictive Filter Framework with Safety and Stability Guarantees
Yunda Yan, Chenxi Tao, Jinya Su +2
Ensuring both safety and stability remains a fundamental challenge in learning-based control, where goal-oriented policies often neglect system constraints and closed-loop state co…