The DOI matches its Crossref record; 13 of the 13 references it cites were found in a registry or an index.
Minimum snap trajectory generation and control for quadrotors
Abstract
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 settings, it is necessary to allow for significant excursions of the attitude from the hover state and small angle approximations cannot be justified for the roll and pitch. We develop an algorithm that enables the real-time generation of optimal trajectories through a sequence of 3-D positions and yaw angles, while ensuring safe passage through specified corridors and satisfying constraints on velocities, accelerations and inputs. A nonlinear controller ensures the faithful tracking of these trajectories. Experimental results illustrate the application of the method to fast motion (5-10 body lengths/second) in three-dimensional slalom courses.
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Cites
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The GRASP Multiple Micro-UAV Testbed
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Self-citationARA*: Anytime A* with Provable Bounds on Sub-Optimality
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A simple learning strategy for high-speed quadrocopter multi-flips
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A simple learning strategy for high-speed quadrocopter multi-flips
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Cited by
Polynomial Trajectory Planning for Aggressive Quadrotor Flight in Dense Indoor Environments
Richter, C., Bry, A., & Roy, N. (2016) · Springer Tracts in Advanced Robotics · doi:10.1007/978-3-319-28872-7_37 · Cited by 747
Robust and Efficient Quadrotor Trajectory Generation for Fast Autonomous Flight
Zhou, B., Gao, F., Wang, L., Liu, C., & Shen, S. (2019) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2019.2927938 · Cited by 747
Swarm of micro flying robots in the wild
Zhou, X., Wen, X., Wang, Z., Gao, Y., Li, H., Wang, Q., Yang, T., Lu, H., Cao, Y., Xu, C., et al. (2022) · Science Robotics · doi:10.1126/scirobotics.abm5954 · Cited by 657
Liu, S., Watterson, M., Mohta, K., Sun, K., Bhattacharya, S., Taylor, C. J., & Kumar, V. (2017) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2017.2663526 · Cited by 555
Self-citationCamera-based navigation of a low-cost quadrocopter
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Metadata
- Authors
- Mellinger, D., & Kumar, V.
- Venue
- 2011 IEEE International Conference on Robotics and Automation
- Publisher
- IEEE
- Published
- 2011-05
- Pages
- 2520-2525
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2162991084
- Cited by
- 2,367
- References
- 13
- FWCI
- 37.55
- Type
- conference paper
- Language
- en
- Open access
- closed
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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