In autonomous systems, the ability to make forecasts and cope with uncertain predictions is
synonymous with intelligence. Model predictive control (MPC) is an established control …

In this letter, we propose a robust and efficient quadrotor motion planning system for fast
flight in three-dimensional complex environments. We adopt a kinodynamic path searching …

In this article, we present an optimization-based framework for multicopter trajectory
planning subject to geometrical configuration constraints and user-defined dynamic …

We present a multirotor Unmanned Aerial Vehicle (UAV) control and estimation system for
supporting replicable research through realistic simulations and real-world experiments. We …

Today's autonomous drones have reaction times of tens of milliseconds, which is not
enough for navigating fast in complex dynamic environments. To safely avoid fast moving …

We define a system architecture for a large swarm of miniature quadcopters flying in dense
formation indoors. The large number of small vehicles motivates novel design choices for …

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 …

This review surveys the current state of the art in the development of unmanned aerial
vehicles, focusing on algorithms for quadrotors. Tremendous progress has been made …

Policy search and model predictive control (MPC) are two different paradigms for robot
control: policy search has the strength of automatically learning complex policies using …

Multirotor unmanned aerial vehicles (UAVs) are rapidly gaining popularity for many
applications. However, safe operation in partially unknown, unstructured environments …