We explore the challenges of planning trajectories for quadrotors through cluttered indoor
environments. We extend the existing work on polynomial trajectory generation by …

Current control systems regulate the behavior of dynamic systems by reacting to noise and
unexpected disturbances as they occur. To improve the performance of such control …

Fixed-pitch quadrotors are popular research and hobby platforms largely due to their
mechanical simplicity relative to other hovering aircraft. This simplicity, however, places …

Inverse optimal control is the problem of computing a cost function with respect to which
observed state and input trajectories are optimal. We present a new method of inverse …

The recent work on quadrotor have focused on more and more challenging tasks with
increasingly complex systems. Systems are often augmented with slung loads, inverted …

The aerospace community, particularly in academia, has seen a recent rise in the popularity
of fixed-pitch quadrotor helicopters. The fixed-pitch quadrotor is popular largely because of …

For a quadrotor aircraft, we study the problem of planning a trajectory that connects two
arbitrary states while allowing the UAV to grasp a moving target at some intermediate time …

This article presents a new proportional-integral-derivative-accelerated (PIDA) control with a
derivative filter to improve quadcopter/drone flight stability in a noisy environment. The …

This paper presents a two-level control strategy for the trajectory tracking of the quadcopter.
The external loop is designed to move the translational dynamics of the robot to follow …

Micro aerial vehicles, such as multirotors, are particularly well suited for autonomous
monitoring, inspection, and surveillance, eg, for doing inventory in large warehouses. Key …