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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…
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,…