Yocheved Kopel — accepted AI-conference papers

2025

Dense Fixed-Wing Swarming Using Receding-Horizon NMPC

Varun Madabushi, Yocheved Kopel, Adam Polevoy, Joseph L. Moore

ICRA 2025

In this paper, we present an approach for controlling a team of agile fixed-wing aerial vehicles in close proximity to one another. Our approach relies on recedinghorizon nonlinear model predictive control (NMPC) to plan maneuvers across an expanded flight envelope to enable interagent collision avo

Cited by 2 Source ↗Scholar ↗

2023

Planning and Control for a Dynamic Morphing-Wing UAV Using a Vortex Particle Model

Gino Perrotta, Luca Scheuer, Yocheved Kopel, Max Basescu, Adam Polevoy, Kevin Wolfe +1

IROS 2023poster

Achieving precise, highly-dynamic maneuvers with Unmanned Aerial Vehicles (UAVs) is a major challenge due to the complexity of the associated aerodynamics. In particular, unsteady effectsas might be experienced in post-stall regimes or during sudden vehicle morphing-can have an adverse impact on the…

Cited by 1 Source ↗Scholar ↗