Qingyue Yan — accepted AI-conference papers

2020

Aerial Manipulation Using Hybrid Force and Position NMPC Applied to Aerial Writing

Dimos Tzoumanikas, Felix Graule, Qingyue Yan, Dhruv Shah, Marija Popovic, Stefan Leutenegger

RSS 2020poster

Aerial manipulation aims at combining the maneuverability of aerial vehicles with the manipulation capabilities of robotic arms. This, however, comes at the cost of the additional control complexity due to the coupling of the dynamics of the two systems. In this paper we present a Nonlinear Model Pr…

Cited by 70 Source ↗PDF ↗Scholar ↗

2020

Nonlinear MPC with Motor Failure Identification and Recovery for Safe and Aggressive Multicopter Flight

Dimos Tzoumanikas, Qingyue Yan, Stefan Leutenegger

ICRA 2020poster

Safe and precise reference tracking is a crucial characteristic of Micro Aerial Vehicles (MAVs) that have to operate under the influence of external disturbances in cluttered environments. In this paper, we present a Nonlinear Model Predictive Control (NMPC) that exploits the fully physics based non…

Cited by 25 Source ↗Scholar ↗