Zhuohuan Wu — accepted AI-conference papers

2025

Geometric Tracking Control of Omnidirectional Multirotors for Aggressive Maneuvers

Hyungyu Lee, Sheng Cheng, Zhuohuan Wu, Jaeyoung Lim, Roland Siegwart, Naira Hovakimyan

RA-L 2025

An omnidirectional multirotor has the maneuverability of decoupled translational and rotational motions, superseding the traditional multirotors' motion capability. Such maneuverability is achieved due to the ability of the omnidirectional multirotor to frequently alter the thrust amplitude and dire

Cited by 10 Source ↗Scholar ↗

2022

L1Adaptive Augmentation for Geometric Tracking Control of Quadrotors

Zhuohuan Wu, Sheng Cheng, Kasey A. Ackerman, Aditya Gahlawat, Arun Lakshmanan, Pan Zhao +1

ICRA 2022poster

This paper introduces an LL1adaptive control aug-mentation for geometric tracking control of quadrotors. In the proposed design, the LL 1 augmentation handles nonlinear (time-and state-dependent) uncertainties in the quadrotor dynamics without assuming or enforcing parametric structures, while the b…

Cited by 45 Source ↗Scholar ↗