This paper presents a novel system for autonomous, vision-based drone racing combining
learned data abstraction, nonlinear filtering, and time-optimal trajectory planning. The …

This paper presents PANTHER, a real-time perception-aware (PA) trajectory planner for
multirotor-UAVs (Unmanned Aerial Vehicles) in dynamic environments. PANTHER plans …

Planning time-optimal motions of robot manipulators is important for maximizing productivity
in industry and has attracted much attention in academia. Time-optimal time scaling (TOTS) …

Visual inertial odometry (VIO) is widely used for the state estimation of multicopters, but it
may function poorly in environments with few visual features or in overly aggressive flights …

FlightGoggles is a photorealistic sensor simulator for perception-driven robotic vehicles. The
key contributions of FlightGoggles are twofold. First, FlightGoggles provides photorealistic …

Cable-driven parallel robots (CDPRs) combine the properties of parallel robots with the
characteristics of flexible cables, which bring them plenty of potential merits. However, the …

Autonomous micro aerial vehicles (MAVs) are becoming an integral tool in numerous
applications involving time-critical missions in GPS-denied environments. Due to their small …

Motion planning of quadcopters for enhanced autonomy in complex environments by **angyu
Wu A dissertation submitted in partial s Page 1 Motion planning of quadcopters for enhanced …

Autonomous, agile quadrotor flight raises fundamental challenges for robotics research in
terms of perception, planning, learning, and control. A versatile and standardized platform is …