Zhiqian Cai — accepted AI-conference papers

2025

MARS-FTCP: Robust Fault-Tolerant Control and Agile Trajectory Planning for Modular Aerial Robot Systems

Rui Huang, Zhenyu Zhang, Siyu Tang, Zhiqian Cai, Lin Zhao

IROS 2025

Modular Aerial Robot Systems (MARS) consist of multiple drone units that can self-reconfigure to adapt to various mission requirements and fault conditions. However, existing fault-tolerant control methods exhibit significant oscillations during docking and separation, impacting system stability. To

Cited by 4 Source ↗code ↗Scholar ↗

2025

Robust Self-Reconfiguration for Fault-Tolerant Control of Modular Aerial Robot Systems

Rui Huang, Siyu Tang, Zhiqian Cai, Lin Zhao

ICRA 2025

Modular Aerial Robotic Systems (MARS) consist of multiple drone units assembled into a single, integrated rigid flying platform. With inherent redundancy, MARS can self-reconfigure into different configurations to mitigate rotor or unit failures and maintain stable flight. However, existing works on

Cited by 9 Source ↗code ↗Scholar ↗