7 accepted papers
Achieving high-precision control for robotic systems is hindered by the low-fidelity dynamical model and external disturbances. Especially, the intricate coupling between internal uncertainties and external disturbances further exacerbates this challenge. This study introduces an effective and conve…
Precise control in modern robotic applications is always an open issue due to unknown time-varying disturbances. Existing meta-learning-based approaches require a shared representation of environmental structures, which lack flexibility for realistic non-structural disturbances. Besides, representat…
The well-known generalization problem hinders the application of artificial neural networks in continuous-time prediction tasks with varying latent dynamics. In sharp contrast, biological systems can neatly adapt to evolving environments benefiting from real-time feedback mechanisms. Inspired by the…
Safe and autonomous flight of quadrotors in enclosed environments still remains formidable challenge due to the aerodynamic proximity effect and restricted free space. This letter develops an integrated planning and control architecture for disturbance-aware and safety control of quadrotors. By expl
This letter presents a safety trajectory planning and tracking architecture for a quadrotor autopilot. Motor saturation constraints are explicitly considered in obstacle avoidance mission. Two challenging cases are covered: agile flight with a short task time and stable flight with actuator degradat
The balanceness between the tracking performance and the aerodynamic drag treatment is of paramount importance especially in the presence of the quadrotor aggressive maneuvers. Different from standard approaches that achieve precise tracking by feedforward compensating the estimated drag, this work
In this paper we propose a method to achieve relative positioning and tracking of a target by a quadcopter using Ultra-wideband (UWB) ranging sensors, which are strategically installed to help retrieve both relative position and bearing between the quadcopter and target. To achieve robust localizati…