2 papers
cs.RO2026
Switch-Time-Aware Hybrid Model Predictive Control Using the Hybrid Minimum Principle
Valentin Gaucher, Wenlong Zhang
This article presents a time-aware hybrid model predictive control (MPC) framework that simultaneously optimizes the objective with respect to both continuous control inputs and ev…
cs.RO2026
Dual Quaternion Based Contact Modeling for Fast and Smooth Collision Recovery of Quadrotors
Valentin Gaucher, Wenlong Zhang
Unmanned aerial vehicles (UAVs) operating in cluttered environments require efficient and accurate impact modeling to maintain stability post collisions, however classical impulse…