Minimum-time navigation within constrained and dynamic environments is of special
relevance in robotics. Seeking time-optimality, while guaranteeing the integrity of time …

The geometric maneuvering problem for underactuated vertical takeoff and landing vehicles
is considered in this article. First, driven by the demands in this study, the input-to-state …

An iterative bias estimation framework is presented that mitigates position-dependent
ranging errors often present in ultra-wideband localization systems. State estimation and …

This work focuses on pose-following, a variant of path-following in which the goal is to steer
the system's position and attitude along a path with a moving frame attached to it. Full body …

This work presents a unified framework for path-parametric planning and control. This
formulation is universal as it standardizes the entire spectrum of path-parametric techniques …

This paper presents a two-stage prediction-based control scheme for embedding the
environment's geometric properties into a collision-free Pythagorean Hodograph spline, and …

Purpose Many existing trajectory optimization algorithms use parameters like maximum
velocity or acceleration to formulate constraints. Due to the ignoring of the quadrotor actual …

Quadrotors are the most popular type of micro aerial vehicles. They gained their popularity
due to their simple and robust mechanical design, which can be achieved from cheap off-the …

A large number of both aerial and underwater mobile robots fall in the category of
underactuated systems that are defined on a manifold, which is not isomorphic to Euclidean …

In this thesis we investigate the motion control problem for a class of vehicles CV, which
includes satellites, quadrotors, underwater vehicles, and tailsitters. Given a globally …