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• W3202650801 abstract "Minimum-time navigation within constrained and dynamic environments is of special relevance in robotics. Seeking time-optimality, while guaranteeing the integrity of time-varying spatial bounds, is an appealing trade-off for agile vehicles, such as quadrotors. State of the art approaches, either assume bounds to be static and generate time-optimal trajectories offline, or compromise time-optimality for constraint satisfaction. Leveraging nonlinear model predictive control and a path parametric reformulation of the quadrotor model, we present a real-time control that approximates time-optimal behavior and remains within dynamic corridors. The efficacy of the approach is evaluated according to simulated results, showing itself capable of performing extremely aggressive maneuvers as well as stop-and-go and backward motions." @default.
• W3202650801 created "2021-10-11" @default.
• W3202650801 creator A5017318381 @default.
• W3202650801 creator A5018909750 @default.
• W3202650801 date "2022-05-23" @default.
• W3202650801 modified "2023-10-17" @default.
• W3202650801 title "Towards Time-Optimal Tunnel-Following for Quadrotors" @default.
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• W3202650801 doi "https://doi.org/10.1109/icra46639.2022.9811764" @default.
• W3202650801 hasPublicationYear "2022" @default.
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