Nonlinear MPC for Collision Avoidance and Controlof UAVs With Dynamic Obstacles

3 August 2020

B. Lindqvist

Sina Sharif Mansouri

Ali-akbar Agha-mohammadi

G. Nikolakopoulos

ArXiv (abs)PDF HTML

Papers citing "Nonlinear MPC for Collision Avoidance and Controlof UAVs With Dynamic Obstacles"

43 / 43 papers shown

Title
Omni-Perception: Omnidirectional Collision Avoidance for Legged Locomotion in Dynamic Environments Zifan Wang Teli Ma Yufei Jia X. Yang Jiaming Zhou Wenlong Ouyang Qiang Zhang Junwei Liang 56 0 0 25 May 2025
NMPC-Lander: Nonlinear MPC with Barrier Function for UAV Landing on a Mobile Platform Amber Batool Faryal Batool Roohan Ahmed Khan Muhammad Ahsan Mustafa A. Fedoseev Dzmitry Tsetserukou 60 0 0 06 May 2025
The Composite Visual-Laser Navigation Method Applied in Indoor Poultry Farming Environments Jiafan Lu Dongcheng Hu Yitian Ye Anqi Liu Zixian Zhang Xin Peng 29 0 0 11 Apr 2025
Collision-free landing of multiple UAVs on moving ground vehicles using time-varying control barrier functions V. N. Sankaranarayanan Akshit Saradagi S. Satpute G. Nikolakopoulos 65 2 0 08 Apr 2025
Quattro: Transformer-Accelerated Iterative Linear Quadratic Regulator Framework for Fast Trajectory Optimization Yue Wang Hoayu Wang Zhaoxing Li 137 0 0 02 Apr 2025
Mapless Collision-Free Flight via MPC using Dual KD-Trees in Cluttered Environments Linzuo Zhang Yu Hu Yang Deng Feng Yu Danping Zou 85 0 0 13 Mar 2025
Monocular Obstacle Avoidance Based on Inverse PPO for Fixed-wing UAVs Haochen Chai Meimei Su Yang Lyu Zhunga Liu Chunhui Zhao Quan Pan 117 0 0 27 Nov 2024
Transformer-Based Fault-Tolerant Control for Fixed-Wing UAVs Using Knowledge Distillation and In-Context Adaptation Francisco Giral Ignacio Gómez Ricardo Vinuesa S. L. Clainche 123 2 0 05 Nov 2024
A Surface Adaptive First-Look Inspection Planner for Autonomous Remote Sensing of Open-Pit Mines Vignesh Kottayam Viswanathan Vidya Sumathy Christoforos Kanellakis G. Nikolakopoulos 30 0 0 14 Oct 2024
Custom Non-Linear Model Predictive Control for Obstacle Avoidance in Indoor and Outdoor Environments Lara Laban M. Wzorek P. Rudol Tommy Persson 57 0 0 03 Oct 2024
Reactive Collision Avoidance for Safe Agile Navigation Alessandro Saviolo Niko Picello Jeffrey Mao Rishabh Verma Giuseppe Loianno 116 1 0 18 Sep 2024
Model Predictive Path Integral Control for Agile Unmanned Aerial Vehicles Michal Minarik Robert Pěnička Vojtěch Vonásek Martin Saska 79 6 0 13 Jul 2024
A Tree-based Next-best-trajectory Method for 3D UAV Exploration B. Lindqvist Akash Patel Kalle Löfgren G. Nikolakopoulos 87 10 0 05 Jul 2024
Quaternion-based Adaptive Backstepping Fast Terminal Sliding Mode Control for Quadrotor UAVs with Finite Time Convergence Arezo Shevidi Hashim A. Hashim 52 14 0 01 Jul 2024
Robust Dynamic Control Barrier Function Based Trajectory Planning for Mobile Manipulator Lihao Xu Xiaogang Xiong Bai Yang Yunjiang Lou 60 0 0 22 Jun 2024
Robot Safe Planning In Dynamic Environments Based On Model Predictive Control Using Control Barrier Function Zetao Lu Kaijun Feng Jun Xu Haoyao Chen Yunjiang Lou 56 3 0 09 Apr 2024
Iterative Active-Inactive Obstacle Classification for Time-Optimal Collision Avoidance Mehmetcan Kaymaz N. K. Üre 65 0 0 20 Mar 2024
A Safety-Critical Framework for UGVs in Complex Environments: A Data-Driven Discrepancy-Aware Approach Skylar X. Wei Lu Gan J. W. Burdick 81 0 0 05 Mar 2024
Quadrotor Stabilization with Safety Guarantees: A Universal Formula Approach Ming Li Zhiyong Sun Siep Weiland 17 2 0 07 Jan 2024
Safety-Critical Coordination of Legged Robots via Layered Controllers and Forward Reachable Set based Control Barrier Functions Jeeseop Kim Jaemin Lee Aaron D. Ames 76 4 0 14 Dec 2023
Tightly Joining Positioning and Control for Trustworthy Unmanned Aerial Vehicles Based on Factor Graph Optimization in Urban Transportation Peiwen Yang W. Wen 104 2 0 04 Oct 2023
EAST: Environment Aware Safe Tracking using Planning and Control Co-Design Zhichao Li Yinzhuang Yi Zhuolin Niu Nikolay Atanasov 48 1 0 02 Oct 2023
Toward collision-free trajectory for autonomous and pilot-controlled unmanned aerial vehicles Kaya Kuru John Michael Pinder B. Watkinson D. Ansell Keith Vinning Lee Moore Chris Gilbert Aadithya Sujit David C. Jones 18 12 0 18 Sep 2023
Efficient Real-time Smoke Filtration with 3D LiDAR for Search and Rescue with Autonomous Heterogeneous Robotic Systems Alexander Kyuroson A. Koval G. Nikolakopoulos 42 1 0 14 Aug 2023
An NMPC-ECBF Framework for Dynamic Motion Planning and Execution in vision-based Human-Robot Collaboration Dianhao Zhang Mien Van Pantelis Sopasakis Seán F. McLoone 46 2 0 14 Apr 2023
Control Barrier Function-based Predictive Control for Close Proximity operation of UAVs inside a Tunnel Vedant Mundheda Damodar Datta Harikumar Kandath 30 3 0 28 Mar 2023
E2CoPre: Energy Efficient and Cooperative Collision Avoidance for UAV Swarms with Trajectory Prediction Shuangyao Huang Haibo Zhang Zhiyi Huang 38 8 0 11 Mar 2023
Evaluation of Lidar-based 3D SLAM algorithms in SubT environment A. Koval Christoforos Kanellakis G. Nikolakopoulos 31 12 0 27 Feb 2023
PACED-5G: Predictive Autonomous Control using Edge for Drones over 5G V. N. Sankaranarayanan Gerasimos Damigos Achilleas Santi Seisa S. Satpute Tore Lindgren G. Nikolakopoulos 61 7 0 30 Jan 2023
Towards Energy Efficient Autonomous Exploration of Mars Lava Tube with a Martian Coaxial Quadrotor Akash Patel Stefan Karlsson B. Lindqvist Christoforos Kanellakis Ali Akbar Agha Mohammadi G. Nikolakopoulos 58 10 0 13 Nov 2022
Along Similar Lines: Local Obstacle Avoidance for Long-term Autonomous Path Following Jordy Sehn Yuchen Wu Timothy D. Barfoot 3DV 52 5 0 03 Nov 2022
Deep Reinforcement Learning based Robot Navigation in Dynamic Environments using Occupancy Values of Motion Primitives Neset Unver Akmandor Hongyu Li Gary Lvov Eric Dusel T. Padır 94 10 0 17 Aug 2022
Reactive Navigation of an Unmanned Aerial Vehicle with Perception-based Obstacle Avoidance Constraints B. Lindqvist Sina Sharif Mansouri Jakub Haluška G. Nikolakopoulos 63 16 0 04 Jul 2022
REF: A Rapid Exploration Framework for Deploying Autonomous MAVs in Unknown Environments Akash Patel B. Lindqvist Christoforos Kanellakis Ali-akbar Agha-mohammadi G. Nikolakopoulos 51 4 0 31 May 2022
Autonomous Navigation of AGVs in Unknown Cluttered Environments: log-MPPI Control Strategy Ihab S. Mohamed Kai-Li Yin Lantao Liu 65 41 0 30 Mar 2022
Learning Minimum-Time Flight in Cluttered Environments Robert Pěnička Yunlong Song Elia Kaufmann Davide Scaramuzza 86 52 0 28 Mar 2022
Moving Obstacle Avoidance: a Data-Driven Risk-Aware Approach Skylar X. Wei Anushri Dixit Shashank Tomar J. W. Burdick 90 16 0 25 Mar 2022
WayFAST: Navigation with Predictive Traversability in the Field M. V. Gasparino A. N. Sivakumar Yixiao Liu A. E. B. Velasquez V. A. H. Higuti J. Rogers Huy T. Tran Girish Chowdhary 66 56 0 22 Mar 2022
A review of mobile robot motion planning methods: from classical motion planning workflows to reinforcement learning-based architectures Changyin Sun Zicheng He Chunwei Song Changyin Sun 96 59 0 31 Aug 2021
Model Predictive Control for Trajectory Tracking on Differentiable Manifolds G. Lu Wei Xu Fu Zhang 89 6 0 29 Jun 2021
A Scalable Distributed Collision Avoidance Scheme for Multi-agent UAV systems B. Lindqvist Pantelis Sopasakis G. Nikolakopoulos 39 17 0 08 Apr 2021
Exploration-RRT: A multi-objective Path Planning and Exploration Framework for Unknown and Unstructured Environments B. Lindqvist Ali-akbar Agha-mohammadi G. Nikolakopoulos 67 35 0 08 Apr 2021
Trajectory Generation with Fast Lidar-based 3D Collision Avoidance for Agile MAVs Marius Beul Sven Behnke 36 5 0 03 Nov 2020