First-person view (FPV) drone racing is a televised sport in which professional competitors
pilot high-speed aircraft through a 3D circuit. Each pilot sees the environment from the …

A central question in robotics is how to design a control system for an agile mobile robot.
This paper studies this question systematically, focusing on a challenging setting …

Accurate trajectory-tracking control for quadrotors is essential for safe navigation in cluttered
environments. However, this is challenging in agile flights due to nonlinear dynamics …

This Review discusses the main results obtained in training end-to-end neural architectures
for guidance and control of interplanetary transfers, planetary landings, and close-proximity …

An open research question in robotics is how to combine the benefits of model-free
reinforcement learning (RL)—known for its strong task performance and flexibility in …

Over the last decade, the use of autonomous drone systems for surveying, search and
rescue, or last-mile delivery has increased exponentially. With the rise of these applications …

Model Predictive Control (MPC) has become a popular framework in embedded control for
high-performance autonomous systems. However, to achieve good control performance …

We tackle the problem of planning a minimum-time trajectory for a quadrotor over a
sequence of specified waypoints in the presence of obstacles while exploiting the full …

In this letter, we tackle the problem of flying a quadrotor using time-optimal control policies
that can be replanned online when the environment changes or when encountering …

Many years after construction, a number of existing old tunnels and underground structures
are deteriorating with time as evidenced by cracks, large deformations, water leakage and …