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Planning agile motions for quadrotors in constrained environments

Alexandre Boeuf, Juan Cortes, Rachid Alami, Thierry Simeon
2014 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems  
The paper explains how this local planner can be used within different motion planning approaches that enable the treatment of difficult problems in constrained environments.  ...  This paper presents a local trajectory planner, based on a simplified dynamic model of quadrotors, which fits the requirements to be integrated into a global motion planning approach.  ...  Used within a decoupled approach, based on geometric path planning and subsequent trajectory generation and optimization, motion planning problems in moderately-constrained environments can be solved in  ... 
doi:10.1109/iros.2014.6942564 dblp:conf/iros/BoeufCAS14 fatcat:mzdxlmnckrhlvizwxy24ihysbe

Fast-Tracker 2.0: Improving Autonomy of Aerial Tracking with Active Vision and Human Location Regression [article]

Neng Pan, Ruibin Zhang, Tiankai Yang, Chao Xu, Fei Gao
2021 arXiv   pre-print
For the latter one, we equip the quadrotor system with 360 degree active vision on a customized gimbal camera.  ...  Furthermore, we improve the tracking trajectory planning in Fast-tracker by incorporating an occlusion-aware mechanism that generates observable tracking trajectories.  ...  For the quadrotor planning module, we use voxel occupancy grids denoted as G : R 3 → [0, 1] to represent the environment.  ... 
arXiv:2103.06522v1 fatcat:4udd7mxizve6bpoebwuocgw2pi

Online trajectory planning and control of a MAV payload system in dynamic environments

Nikhil D. Potdar, Guido C. H. E. de Croon, Javier Alonso-Mora
2020 Autonomous Robots  
However, these approaches have failed to address the prospect of online re-planning in uncertain and dynamic environments, which is a prerequisite for real-world deployability.  ...  Current approaches for path planning of MAV swung payload system either compute conservative minimal-swing trajectories or pre-generate agile collision-free trajectories.  ...  Acknowledgements This work has been supported in part by Veni project 15916 of the Netherlands Organisation for Scientific Research (NWO), domain Applied and Engineering Sciences (TTW), the Amsterdam Institute  ... 
doi:10.1007/s10514-020-09919-8 fatcat:oolodrhq4zgcppsay2sgzdvk2u

Interleaving Graph Search and Trajectory Optimization for Aggressive Quadrotor Flight [article]

Ramkumar Natarajan, Howie Choset, Maxim Likhachev
2021 arXiv   pre-print
Planning for aggressive flight with trajectory optimization could be incredibly fast, even in higher dimensions, and can account for dynamics of the quadrotor, however, only provides a locally optimal  ...  Experiments show the benefits of the proposed algorithmic framework over standalone trajectory optimization and graph search-based planning techniques for aggressive quadrotor flight.  ...  In order to enable such agile capabilities, motion planning should consider the dynamics and the control limits of the robot.  ... 
arXiv:2101.12548v1 fatcat:n4cntqrs2bhwtmtgs7nzhaa3gu

Fast‐Tracker 2.0: Improving autonomy of aerial tracking with active vision and human location regression

Neng Pan, Ruibin Zhang, Tiankai Yang, Can Cui, Chao Xu, Fei Gao
2021 IET Cyber-Systems and Robotics  
For the latter one, we equip the quadrotor system with 360°active vision on a customised gimbal camera.  ...  Furthermore, we improve the tracking trajectory planning in Fast-Tracker by incorporating an occlusion-aware mechanism that generates observable tracking trajectories.  ...  For the quadrotor planning module, we use voxel occupancy grids denoted as G : ℝ 3 → ½0; 1� to represent the environment.  ... 
doi:10.1049/csy2.12033 fatcat:zwkbgkft5zbrfiaa7qtgzvjhwy

Towards Time-Optimal Tunnel-Following for Quadrotors [article]

Jon Arrizabalaga, Markus Ryll
2022 arXiv   pre-print
Minimum-time navigation within constrained and dynamic environments is of special relevance in robotics.  ...  Seeking time-optimality, while guaranteeing the integrity of time-varying spatial bounds, is an appealing trade-off for agile vehicles, such as quadrotors.  ...  Abstract-Minimum-time navigation within constrained and dynamic environments is of special relevance in robotics.  ... 
arXiv:2110.01351v4 fatcat:fltmag5hpjbdbhg5xizjhgrpxq

Fast Trajectory Optimization for Agile Quadrotor Maneuvers with a Cable-Suspended Payload

Philipp Foehn, Davide Falanga, Naveen Kuppuswamy, Russ Tedrake, Davide Scaramuzza
2017 Robotics: Science and Systems XIII  
We present a novel dynamical model and a fast trajectory optimization algorithm for quadrotors with a cable-suspended payload.  ...  Executing agile quadrotor maneuvers with cablesuspended payloads is a challenging problem and complications induced by the dynamics typically require trajectory optimization.  ...  Trajectory planning for agile navigation leveraging the swinging dynamics of the system has also been studied [24, 25, 3, 2] .  ... 
doi:10.15607/rss.2017.xiii.030 dblp:conf/rss/FoehnFKTS17 fatcat:5ijqabkxxzf7rfat4p7w465xqa

FUEL: Fast UAV Exploration using Incremental Frontier Structure and Hierarchical Planning [article]

Boyu Zhou, Yichen Zhang, Xinyi Chen, Shaojie Shen
2020 arXiv   pre-print
In this paper, we propose FUEL, a hierarchical framework that can support Fast UAV Exploration in complex unknown environments.  ...  Supported by the FIS, a hierarchical planner plans exploration motions in three steps, which find efficient global coverage paths, refine a local set of viewpoints and generate minimum-time trajectories  ...  Quadrotor Trajectory Planning Trajectory planning for quadrotor has been widely studied recently. There are two major categories of approaches, the hard-constrained and soft-constrained ones.  ... 
arXiv:2010.11561v2 fatcat:zadpyvzuwrdcha5lp7axh32x7m

Motion Planning [chapter]

Alexandre Boeuf, Juan Cortés, Thierry Siméon
2019 Springer Tracts in Advanced Robotics  
This chapter presents a kinodynamic motion planner for computing agile motions of quad-rotor-like aerial robots in constrained environments.  ...  This local planner is then integrated as a key component for global motion planning using different approaches.  ...  This chapter presents an efficient kinodynamic motion planner for computing agile motions of quad-rotor-like aerial robots in constrained environments like the slot problem of Fig. 1 .  ... 
doi:10.1007/978-3-030-12945-3_23 fatcat:5snykc4nrzb6bc3xqhdvsvjnje

Aggressive flight of fixed-wing and quadrotor aircraft in dense indoor environments

Adam Bry, Charles Richter, Abraham Bachrach, Nicholas Roy
2015 The international journal of robotics research  
In this paper, we describe trajectory planning and state estimation algorithms for aggressive flight of micro aerial vehicles in known, obstacledense environments.  ...  We conclude with experiments demonstrating the execution of quadrotor and fixed-wing trajectories in cluttered environments.  ...  Our purpose in this research is to enable quadrotor and fixed-wing vehicles to perform agile flights in obstacle-dense environments for these applications.  ... 
doi:10.1177/0278364914558129 fatcat:p7jatce4t5dppcsyizxv7cmuca

PAMPC: Perception-Aware Model Predictive Control for Quadrotors

Davide Falanga, Philipp Foehn, Peng Lu, Davide Scaramuzza
2018 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
Considering both perception and action objectives for motion planning and control is challenging due to the possible conflicts arising from their respective requirements.  ...  Considering both perception and action objectives for motion planning and control is challenging due to the possible conflicts arising from their respective requirements.  ...  In [16] and [17] , a real-time motion planning method for aerial videography was presented.  ... 
doi:10.1109/iros.2018.8593739 dblp:conf/iros/FalangaFLS18 fatcat:g6ikf4ogmnc2vi2xpkklxaz7ii

PCMPC: Perception-Constrained Model Predictive Control for Quadrotors with Suspended Loads using a Single Camera and IMU [article]

Guanrui Li, Alex Tunchez, Giuseppe Loianno
2021 arXiv   pre-print
In this paper, we address the Perception--Constrained Model Predictive Control (PCMPC) and state estimation problems for quadrotors with cable suspended payloads using a single camera and Inertial Measurement  ...  The proposed control and state estimation solution runs in real-time at 500 Hz on a small quadrotor equipped with a limited computational unit.  ...  MODELING, CONTROL, AND PLANNING We introduce the dynamic model, PCMPC, and trajectory planning for a quadrotor with a cable-suspended payload. The system overview is presented in Fig. 2 .  ... 
arXiv:2107.10888v1 fatcat:v4d3hh4rjnckfia42idswflsby

PAMPC: Perception-Aware Model Predictive Control for Quadrotors [article]

Davide Falanga, Philipp Foehn, Peng Lu, Davide Scaramuzza
2018 arXiv   pre-print
Considering both perception and action objectives for motion planning and control is challenging due to the possible conflicts arising from their respective requirements.  ...  We present the first perception-aware model predictive control framework for quadrotors that unifies control and planning with respect to action and perception objectives.  ...  In [16] and [17] , a real-time motion planning method for aerial videography was presented.  ... 
arXiv:1804.04811v2 fatcat:c4cikmkbobcgnlhwrvr5ad3vp4

Deep Drone Racing: Learning Agile Flight in Dynamic Environments [article]

Elia Kaufmann, Antonio Loquercio, Rene Ranftl, Alexey Dosovitskiy, Vladlen Koltun, Davide Scaramuzza
2018 arXiv   pre-print
We demonstrate our method in autonomous agile flight scenarios, in which a vision-based quadrotor traverses drone-racing tracks with possibly moving gates.  ...  Autonomous agile flight brings up fundamental challenges in robotics, such as coping with unreliable state estimation, reacting optimally to dynamically changing environments, and coupling perception and  ...  In contrast, the VIO baseline (i.e. the expert policy) cannot adapt to changes in the environment, and fails even for tiny gate motions.  ... 
arXiv:1806.08548v3 fatcat:qolj5xr5svf6ta4wqvpz7xr55e

Design and Control of a Variable Aerial Cable Towed System [article]

Zhen Li, Stéphane Caro (LS2N, CNRS, RoMas), Abdelhamid Chriette
2020 arXiv   pre-print
The design is based on a wrench analysis of the VACTS, without constraining the cables to pass through the UAV center of mass, as in current works.  ...  on the UAVs for actuating the cable lengths similar to a Cable-Driven Parallel Robot to increase the versatility of the ACTS.  ...  As a consequence, it is not suitable for motion in cluttered environments.  ... 
arXiv:2001.03435v1 fatcat:v23w2gdwrvadti254t2inudbn4
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