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cs.RO2026
Constrained MPC-Based Motion Planning for Morphing Quadrotors in Ultra-Narrow Passages under Limited Perception
Harsh Modi, Xiao Liang, Minghui Zheng
This paper introduces a motion planning framework to plan morphology and trajectory for morphing quadrotors under extremely constrained environments. We develop a novel obstacle av…
cs.RO2025
MorphoCopter: Design, Modeling, and Control of a New Transformable Quad-Bi Copter
Harsh Modi, Hao Su, Xiao Liang +1
This paper presents a novel morphing quadrotor, named MorphoCopter, covering its design, modeling, control, and experimental tests. It features a unique single rotary joint that en…
cs.RO2024
Improving Disturbance Estimation and Suppression via Learning among Systems with Mismatched Dynamics
Harsh Modi, Zhu Chen, Xiao Liang +1
Iterative learning control (ILC) is a method for reducing system tracking or estimation errors over multiple iterations by using information from past iterations. The disturbance o…