3 papers
cs.RO2026
Aerial Manipulation with Contact-Aware Onboard Perception and Hybrid Control
Yuanzhu Zhan, Yufei Jiang, Muqing Cao +1
Aerial manipulation (AM) promises to move Unmanned Aerial Vehicles (UAVs) beyond passive inspection to contact-rich tasks such as grasping, assembly, and in-situ maintenance. Most…
cs.RO2026
A Self-Supervised Learning Approach with Differentiable Optimization for UAV Trajectory Planning
Yufei Jiang, Yuanzhu Zhan, Harsh Vardhan Gupta +2
While Unmanned Aerial Vehicles (UAVs) have gained significant traction across various fields, path planning in 3D environments remains a critical challenge, particularly under size…
cs.RO2025
Imperative MPC: An End-to-End Self-Supervised Learning with Differentiable MPC for UAV Attitude Control
Haonan He, Yuheng Qiu, Junyi Geng
Modeling and control of nonlinear dynamics are critical in robotics, especially in scenarios with unpredictable external influences and complex dynamics. Traditional cascaded modul…