We address the controller design and the trajectory generation for a quadrotor maneuvering
in three dimensions in a tightly constrained setting typical of indoor environments. In such …

This paper addresses mechanics, design, estimation and control for aerial grasping. We
present the design of several light-weight, low-complexity grippers that allow quadrotors to …

This work presents a direct approximate-adaptive control, using CMAC nonlinear
approximators, for an experimental prototype quadrotor helicopter. The method updates …

An algorithm is presented that allows the calculation of flight trajectories for quadrocopters.
Trajectory feasibility constraints regarding the vehicle dynamics and input constraints are …

The control of complex non-linear systems can be aided by modeling each system as a
collection of simplified hybrid modes, with each mode representing a particular operating …

Current methods for modeling, analysis, and design of cyber-physical systems lack a
unifying framework due to the complexity and heterogeneity of the constituent elements and …

This paper proposes a hierarchical MPC approach to stabilization and autonomous
navigation of a formation of unmanned aerial vehicles (UAVs), under constraints on motor …

A numerical method for computing quadrocopter maneuvers between two states is
presented. Computed maneuvers satisfy Pontryagin's minimum principle with respect to time …

This paper proposes a hierarchical MPC strategy for autonomous navigation of a formation
of unmanned aerial vehicles (UAVs) of quadcopter type under obstacle and collision …

This paper presents an implementation of autonomous indoor aerial gripping using a low-
cost, custom-built quadrotor. Such research extends the typical functionality of micro air …