3 papers
cs.RO2026
RTD-RAX: Fast, Safe Trajectory Planning for Systems under Unknown Disturbances
Evanns Morales-Cuadrado, Long Kiu Chung, Shreyas Kousik +1
Reachability-based Trajectory Design (RTD) is a provably safe, real-time trajectory planning framework that combines offline reachable-set computation with online trajectory optimi…
cs.RO2025
Lightweight Tracking Control for Computationally Constrained Aerial Systems with the Newton-Raphson Method
Evanns Morales-Cuadrado, Luke Baird, Yorai Wardi +1
We investigate the performance of a lightweight tracking controller, based on a flow version of the Newton-Raphson method, applied to a miniature blimp and a mid-size quadrotor. Th…
cs.RO2024
Newton-Raphson Flow for Aggressive Quadrotor Tracking Control
Evanns Morales-Cuadrado, Christian Llanes, Yorai Wardi +1
We apply the Newton-Raphson flow tracking controller to aggressive quadrotor flight and demonstrate that it achieves good tracking performance over a suite of benchmark trajectorie…