8 papers · 1 filter
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…
Simultaneous learning of state-to-state minimum-time planning and control
Swati Dantu, Robert PÄniÄka, Martin Saska
This paper tackles the challenge of learning a generalizable minimum-time flight policy for UAVs, capable of navigating between arbitrary start and goal states while balancing agil…
Decision-Making-Based Path Planning for Autonomous UAVs: A Survey
Kelen C. Teixeira Vivaldini, Robert PÄniÄka, Martin Saska
One of the most critical features for the successful operation of autonomous UAVs is the ability to make decisions based on the information acquired from their surroundings. Each U…
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…
KRRF: Kinodynamic Rapidly-exploring Random Forest algorithm for multi-goal motion planning
Petr Ježek, Michal MinaÅÃk, VojtÄch Vonásek +1
The problem of kinodynamic multi-goal motion planning is to find a trajectory over multiple target locations with an apriori unknown sequence of visits. The objective is to minimiz…
The MRS UAV System: Pushing the Frontiers of Reproducible Research, Real-world Deployment, and Education with Autonomous Unmanned Aerial Vehicles
Tomas Baca, Matej Petrlik, Matous Vrba +4
We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We…