Agility, Intelligence and Safety | ACP Lab

Trajectory Planning Using Safe Ellipsoidal Corridors as Projections of Orthogonal Trust Regions

Tue, 03 Feb 2026 00:00:00 +0000

ES-HPC-MPC: Exponentially Stable Hybrid Perception Constrained MPC for Quadrotor with Suspended Payloads

Wed, 29 Oct 2025 00:00:00 +0000

PolyFly: Polytopic Optimal Planning for Collision-Free Cable-Suspended Aerial Payload Transportation

Fri, 17 Oct 2025 00:00:00 +0000

DQ-NMPC: Dual-Quaternion NMPC for Quadrotor Flight

Mon, 13 Oct 2025 00:00:00 +0000

DualQuat-LOAM LiDAR Odometry and Mapping parametrized on Dual Quaternions

Wed, 01 Jan 2025 00:00:00 +0000

Decentralized Nonlinear Model Predictive Control for Safe Collision Avoidance in Quadrotor Teams with Limited Detection Range

Sun, 01 Sep 2024 00:00:00 +0000

Experimental System Design of an Active Fault-Tolerant Quadrotor

Mon, 01 Jan 2024 00:00:00 +0000

HPA-MPC: Hybrid Perception-Aware Nonlinear Model Predictive Control for Quadrotors with Suspended Loads

Mon, 01 Jan 2024 00:00:00 +0000

Geometric Fault-Tolerant Control of Quadrotors in Case of Rotor Failures: An Attitude Based Comparative Study

Sun, 01 Jan 2023 00:00:00 +0000

Learning Model Predictive Control for Quadrotors

Sat, 01 Jan 2022 00:00:00 +0000

Physics-Inspired Temporal Learning of Quadrotor Dynamics for Accurate Model Predictive Trajectory Tracking

Sat, 01 Jan 2022 00:00:00 +0000

Vision-based Relative Detection and Tracking for Teams of Micro Aerial Vehicles

Sat, 01 Jan 2022 00:00:00 +0000

Aggressive Visual Perching with Quadrotors on Inclined Surfaces

Fri, 01 Jan 2021 00:00:00 +0000

PCMPC: Perception-Constrained Model Predictive Control for Quadrotors with Suspended Loads using a Single Camera and IMU

Fri, 01 Jan 2021 00:00:00 +0000

Abstract:

In this paper, we address the Perception–Constrained Model Predictive Control (PCMPC) and state estimation problems for quadrotors with cable suspended payloads using a single camera and Inertial Measurement Unit (IMU). We design a receding–horizon control strategy for cable suspended payloads directly formulated on the system manifold configuration space SE(3)xS^2. The approach considers the system dynamics, actuator limits and the camera’s Field Of View (FOV) constraint to guarantee the payload’s visibility during motion. The monocular camera, IMU, and vehicle’s motor speeds are combined to provide estimation of the vehicle’s states in 3D space, the payload’s states, the cable’s direction and velocity. The proposed control and state estimation solution runs in real-time at 500 Hz on a small quadrotor equipped with a limited computational unit. The approach is validated through experimental results considering a cable suspended payload trajectory tracking problem at different speeds.

Efficient Trajectory Library Filtering for Quadrotor Flight in Unknown Environments

Wed, 01 Jan 2020 00:00:00 +0000

Observability-Aware Trajectories for Geometric and Inertial Self-Calibration

Wed, 01 Jan 2020 00:00:00 +0000