Recently, there has been growing interest in develo** unmanned aircraft systems (UAS)
with advanced onboard autonomous capabilities. This paper describes the current state of …

Unmanned Aerial Vehicles (UAVs) offer a wide range of interesting military and commercial
applications at reduced costs. A couple of their more interesting characteristics include: They …

A method is presented for the rapid generation and feasibility verification of motion primitives
for quadrocopters and similar multirotor vehicles. The motion primitives are defined by the …

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

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 …

We study the problem of designing dynamically feasible trajectories and controllers that
drive a quadrotor to a desired state in state space. We focus on the development of a family …

Controller design faces a trade-off between robustness and performance, and the reliability
of linear controllers has caused many practitioners to focus on the former. However, there is …

In the last five years, advances in materials, electronics, sensors, and batteries have fueled a
growth in the development of microunmanned aerial vehicles (MAVs) that are between 0.1 …

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

Swarm robotics systems are characterized by decentralized control, limited communication
between robots, use of local information, and emergence of global behavior. Such systems …