3 papers
cs.RO2026
Local Path Planning and Obstacle Avoidance for an Omnicopter Platform
Mikolaj Helinski, Spilios Theodoulis, Mahmoud Hamandi +3
Autonomous unmanned aerial vehicles (UAVs) increasingly operate in cluttered environments where global planners such as RRT* are not directly deployable at control rates. This pape…
eess.SY2026
Closed-Loop Model-Based Control Barrier Functions with Application to Robust Flight Envelope Protection
Johannes Autenrieb, Mark Spiller, Peter A. Fisher +3
Ensuring operation of aerospace systems within prescribed flight envelope limits is a fundamental requirement for modern flight control architectures. Flight envelope protection ai…
cs.RO2026
Robust Controller Design For INDI-Controlled Quadrotor Using Online Parameter Identification
Tom Aantjes, Till M. Blaha, Spilios Theodoulis +1
It has recently been shown that all physical parameters of an Incremental Nonlinear Dynamic Inversion (INDI) controller can be estimated onboard a multirotor within half a second,…