3 accepted papers
This letter presents an analytical linear parameter- varying (LPV) representation of quadrotor dynamics utilizing Koopman theory, facilitating computationally efficient linear model predictive control (LMPC) for real-time trajectory track- ing. By leveraging carefully designed Koopman observables, t…
This letter presents an analytical linear parameter-varying (LPV) representation of quadrotor dynamics utilizing Koopman theory, facilitating computationally efficient linear model predictive control (LMPC) for real-time trajectory tracking. By leveraging carefully designed Koopman observables, the
A cooperative mapping and target-search algorithm is presented for detecting a single moving ground target in an urban environment that is initially unknown to a team of autonomous quadrotors equipped with noisy, range-limited sensors. The target moves according to a biased random-walk model, and se