7 papers
FF-MPCC: High-speed Agile Formation Flight with Model Predictive Contouring Control
Aditya Dandwate, Vit Kratky, Parakh M. Gupta +2
Flying in a prescribed formation in an agile manner remains a challenging problem in the field of UAVs, particularly when following highly-demanding trajectories that require fligh…
BC-NMPC: Battery-Constrained NMPC with Propulsion Prediction and Replanning for High-Speed Flight
Parakh M. Gupta, Matej Mihulka, Matej Novosad +2
Trajectory tracking performance of Uncrewed Aerial Vehicles (UAVs) degrades during high-speed and agile flight due to the depletion of the battery and subsequent loss of maximum av…
Vision-only UAV State Estimation for Fast Flights Without External Localization Systems: A2RL Drone Racing Finalist Approach
Filip Novák, MatÄj PetrlÃk, Matej Novosad +3
Fast flights with aggressive maneuvers in cluttered GNSS-denied environments require fast, reliable, and accurate UAV state estimation. In this paper, we present an approach for on…
RVC-NMPC: Nonlinear Model Predictive Control with Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight
Vit Kratky, Robert Penicka, Parakh M. Gupta +2
This paper presents an approach to mutual collision avoidance based on Nonlinear Model Predictive Control (NMPC) with time-dependent Reciprocal Velocity Constraints (RVCs). Unlike…
LoL-NMPC: Low-Level Dynamics Integration in Nonlinear Model Predictive Control for Unmanned Aerial Vehicles
Parakh M. Gupta, OndÅej Procházka, Jan HÅebec +3
[Accepted to IROS 2025] In this paper, we address the problem of tracking high-speed agile trajectories for Unmanned Aerial Vehicles(UAVs), where model inaccuracies can lead to lar…
CurviTrack: Curvilinear Trajectory Tracking for High-speed Chase of a USV
Parakh M. Gupta, OndÅej Procházka, Tiago Nascimento +1
Heterogeneous robot teams used in marine environments incur time-and-energy penalties when the marine vehicle has to halt the mission to allow the autonomous aerial vehicle to land…