Trajectory generation and control for precise aggressive maneuvers with quadrotors

By Daniel Mellinger, Nathan Michael, Vijay R. Kumar. Int. J. Robotics Res., 2012

1,063 citations recorded by the source corpus.

Subfields: Computer Vision and Pattern Recognition, Control and Systems Engineering

View Paper: https://www.semanticscholar.org/paper/4c98bd453c389dc3547138b2d59baa1ba855ee40

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

In Computer Vision and Pattern Recognition

In Control and Systems Engineering

Citations in the corpus

Polynomial Trajectory Planning for Aggressive Quadrotor Flight in Dense Indoor Environments (2016, background): “Recent advances in small unmanned aircraft have enabled highly dynamic, aerobatic flight maneuvers [1, 9, 10, 21].”
Automatic re-initialization and failure recovery for aggressive flight with a monocular vision-based quadrotor (2015, background): “In these applications, the MAVs will have to operate in unknown indoor and outdoor environments, which prevents them from relying on external positioning systems (e.g. GPS or motion-capture systems).”
Optimization-Based Collision Avoidance (2017, methodology): “ outer walls of the room are achieved by appropriately upperand lower-bounding the (X;Y;Z) coordinates of the quadcopter. 13 5.2. Quadcopter Model We consider the standard quadcopter model as used in [46], which is derived by nding the equation of motion of the center of gravity (CoG) and summarized”
Pushbroom stereo for high-speed navigation in cluttered environments (2014, background): “Recently we have seen an explosion of exciting results on small, unmanned aerial vehicles (UAVs) such as obstacle avoidance and trajectory tracking [24], formation flight [20], [25], and cooperative interactions with the environment [6], [23], [29].”
Combining the benefits of function approximation and trajectory optimization (2014, background): “Smooth and low-dimensional dynamical systems such as quadrotors admit principled solutions based on nonlinear control theory [8, 16].”
Camera-based navigation of a low-cost quadrocopter (2012, neutral): “Two videos demonstrating the robustness of our approach, its ability to eliminate drift effectively and to estimate the absolute scale of the map are available online: http://youtu.be/tZxlDly7lno http://youtu.be/eznMokFQmpc”
Design, modeling, estimation and control for aerial grasping and manipulation (2011, background): “None of this previous work, however, considers the changes in flight dynamics due to the grasped payload. b) Quadrotor Control: Quadrotor control has been widely addressed in the literature from basic hovering and trajectory following [8], [4] to aggressive and aerobatic maneuvers [12], [13] .”
Rapidly-exploring Random Belief Trees for motion planning under uncertainty (2011, background): “Quad-rotors capable of agile flight through tight obstacles, helicopters that perform extended aerobatic sequences, and fixed-wing vehicles that mimic the perching behavior of birds, have all been reported in the literature [1], [2], [3].”
Advanced closed loop visual navigation for micro aerial vehicles (2014, background): “We have seen impressive work showing flights with aggressive maneuvers like flying through thrown hoops, through narrow horizontal or vertical openings, or perching almost upside down on Velcro-tape (Mellinger et al., 2010; Mellinger and Kumar, 2011).”
Nonlinear robust tracking control of a quadrotor UAV on SE(3) (2011, neutral): “Aggressive maneuvers are demonstrated in [23], but are based on Eulerangles.”
PAMPC: Perception-Aware Model Predictive Control for Quadrotors (2018, background): “This made it possible to replicate some of the impressive quadrotor maneuvers seen in the last decade [1], [2], [3], [4], which relied on motion-capture systems, using only onboard sensing, such”
Aggressive quadrotor flight through narrow gaps with onboard sensing and computing using active vision (2016, background): “Recent works have demonstrated that micro quadrotors are extremely agile and versatile vehicles, able to execute very complex maneuvers [1], [2], [3].”