2 papers
cs.RO2025
DQ-NMPC: Dual-Quaternion NMPC for Quadrotor Flight
Luis F. Recalde, Dhruv Agrawal, Jon Arrizabalaga +1
MAVs have great potential to assist humans in complex tasks, with applications ranging from logistics to emergency response. Their agility makes them ideal for operations in comple…
cs.RO2025
Trajectory Planning Using Safe Ellipsoidal Corridors as Projections of Orthogonal Trust Regions
Akshay Jaitly, Jon Arrizabalaga, Guanrui Li
Planning collision free trajectories in complex environments remains a core challenge in robotics. Existing corridor based planners which rely on decomposition of the free space in…