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Agility, Intelligence and Safety
ClearNav: Perception-Aligned Quadrotor Flight Using Differential-Physics
arXiv preprint
, 2026
Aditya Azad
,
Arthur Huang
,
Guanrui Li
Agility, Intelligence and Safety
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Safety-Critical Quadrotor Navigation Using Fourth-Order Control Barrier Functions with Full Nonlinear Quadrotor Dynamics
arXiv preprint
, 2026
Yanze Liu
,
Yaşar İdikut
,
Dhruv Madhusudan Agrawal
,
Wei Xiao
,
Guanrui Li
Agility, Intelligence and Safety
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DQ-MPCC: Dual-Quaternion MPCC for Quadrotor Racing
arXiv preprint
, 2026
Bryan S. Guevara
,
Luis Fernando Recalde
,
Guanrui Li
,
Tiago Nascimento
Agility, Intelligence and Safety
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Trajectory Planning Using Safe Ellipsoidal Corridors as Projections of Orthogonal Trust Regions
International Conference on Robotics and Automation (ICRA)
, 2026
Akshay Jaitly
,
Jon Arrizabalaga
,
Guanrui Li
Agility, Intelligence and Safety
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ES-HPC-MPC: Exponentially Stable Hybrid Perception Constrained MPC for Quadrotor with Suspended Payloads
IEEE Robotics and Automation Letters (RA-L)
, 2025
Luis Fernando Recalde
,
Mrunal Sarvaiya
,
Giuseppe Loianno
,
Guanrui Li
Agility, Intelligence and Safety
,
Aerial Physical Intelligence
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PolyFly: Polytopic Optimal Planning for Collision-Free Cable-Suspended Aerial Payload Transportation
IEEE Robotics and Automation Letters (RA-L)
, 2025
Mrunal Sarvaiya
,
Guanrui Li
,
Giuseppe Loianno
Oct 17, 2025
Agility, Intelligence and Safety
,
Aerial Physical Intelligence
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Source Document
DQ-NMPC: Dual-Quaternion NMPC for Quadrotor Flight
IEEE Robotics and Automation Letters (RA-L)
, 2025
Luis Fernando Recalde
,
Dhruv Madhusudan Agrawal
,
Jon Arrizabalaga
,
Guanrui Li
Agility, Intelligence and Safety
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DualQuat-LOAM LiDAR Odometry and Mapping parametrized on Dual Quaternions
Robotics and Autonomous Systems
, 2025
Edison P. Velasco-Sanchez
,
Luis Fernando Recalde
,
Guanrui Li
,
Francisco A. Candelas-Herias
,
Santiago T. Puente-Mendez
,
Fernando Torres-Medina
Agility, Intelligence and Safety
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Decentralized Nonlinear Model Predictive Control for Safe Collision Avoidance in Quadrotor Teams with Limited Detection Range
International Conference on Robotics and Automation (ICRA)
, 2025
Manohari Goarin
,
Guanrui Li
,
Alessandro Saviolo
,
Giuseppe Loianno
Agility, Intelligence and Safety
,
Multi-Robot Collaboration
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Experimental System Design of an Active Fault-Tolerant Quadrotor
International Conference on Unmanned Aircraft Systems (ICUAS)
, 2024
Jennifer Yeom
,
Roshan Balu T M B
,
Guanrui Li
,
Giuseppe Loianno
Agility, Intelligence and Safety
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