4 accepted papers
The safety issue arises as one of the most important requirements for autonomous quadrotor flight. Recently, control barrier function (CBF) technique has been developed to provide necessary and sufficient conditions on safety for robot systems. Previous works unified CBF with control techniques in a
When multiple quadrotors fly in a cluttered environment, collision-free flight must be assured. In this paper, we propose a novel elastic safety clearance based model predictive control (ESC-MPC) for multiple maneuverable quadrotors to avoid collisions in the presence of disturbance. This is accompl…
Insulator visual aiming is difficult for washing drone due to the complex washing environment, strong dis-turbance, lack of debugging environment, and other factors. Conventional visual servo control methods often fail to consider these complex factors adequately and fall short in reliable insulator…
Disturbance mainly caused by recoil force in-evitably makes washing drone seriously deviate from the desired position, thereby reducing the cleaning efficiency. It is neces-sary to develop an effective anti-disturbance control method. Although some progresses have been made, the position error there…