2 papers
cs.RO2025
Integrated Planning and Control on Manifolds: Factor Graph Representation and Toolkit
Peiwen Yang, Weisong Wen, Runqiu Yang +5
Model predictive control (MPC) faces significant limitations when applied to systems evolving on nonlinear manifolds, such as robotic attitude dynamics and constrained motion plann…
cs.RO2025
Wall Inspector: Quadrotor Control in Wall-proximity Through Model Compensation
Peiwen Yang, Weisong Wen, Runqiu Yang +2
The safe operation of quadrotors in near-wall urban or indoor environments (e.g., inspection and search-and-rescue missions) is challenged by unmodeled aerodynamic effects arising…