6 accepted papers
While model-based controllers have demonstrated remarkable performance in autonomous drone racing, their performance is often constrained by the reliance on pre-computed reference trajectories. Conventional approaches, such as trajectory tracking, demand a dynamically feasible, full-state reference,…
The flying speed of autonomous quadrotors has increased significantly in the field of autonomous drone racing. However, most research primarily focuses on the aggressive flight of a single quadrotor, simplifying the racing gate traversal problem to a waypoint passing problem that neglects the orient
Ahstract-Achieving time-optimal flight in real time for multi-drone systems presents significant challenges, particularly in scenarios requiring rapid responses or aggressive maneuvers. This paper introduces a novel framework that bridges the gap between time-optimal polynomial trajectory generation
Over the past decade, there has been a remarkable surge in utilizing quadrotors for various purposes due to their simple structure and aggressive maneuverability. One of the key challenges is online time-optimal trajectory generation and control technique. This paper proposes an imitation learning-b
We propose a novel hierarchical priority mechanism for deadlock recovery of distributed swarm via on-demand collision avoidance in cluttered dynamic environments. The proposed priority mechanism dynamically assigns certain priority and an optimized detour point for each agent based on its spatial co
Autonomous drone racing is becoming an excellent platform to challenge quadrotors' autonomy techniques including planning, navigation and control technologies. However, most research on this topic mainly focuses on single drone scenarios. In this paper, we describe a novel time-optimal trajectory ge…