The Foldable Drone: A Morphing Quadrotor That Can Squeeze and Fly
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In the past, computational motor control has been approached from at least two major frameworks: the dynamic systems approach and the viewpoint of optimal control. The dynamic system approach emphasizes motor control as a process of self-organization betwe ...
2007
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An explicit (or closed-form) solution to Model Predictive Control (MPC) results in a polyhedral subdivision of the state-space when the system and constraints are linear, and the cost is linear or quadratic. Within each region the optimal control law is an ...
2007
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The ability to fly at low altitude while actively avoiding collisions with the terrain and objects such as trees and buildings is a great challenge for small unmanned aircraft. This paper builds on top of a control strategy called optiPilot whereby a serie ...
2010
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Optic-flow is believed to be the main source of information allowing insects to control their flight. Some researchers have tried to apply this paradigm to small unmanned aerial vehicles (UAVs). So far, none of them has been able to demonstrate a fully aut ...
This master thesis aims at the development, analysis and computer implementation of effcient numerical methods for the solution of optimal control problems based on parametrized partial differential equations. Our goal isfto develop a new approach based on ...
A model predictive control law (MPC) is given by the solution to a parametric optimization problem that can be pre-computed offline, which provides an explicit map from state to input that can be rapidly evaluated online. However, the primary limitations o ...
A standard model predictive controller (MPC) can be written as a parametric optimization problem whose solution is a piecewise affine (PWA) map from the measured state to the optimal control input. The primary limitation of this optimal `explicit solution ...
The ability to fly at low altitude while actively avoiding collisions with the terrain and other objects is a great challenge for small unmanned aircraft. This paper builds on top of a control strategy called optiPilot whereby a series of optic-flow detect ...
Lightweight micro unmanned aerial vehicles (micro-UAVs) capable of autonomous flight in natural and urban environments have a large potential for civil and commercial applications, including environmental monitoring, forest fire monitoring, homeland securi ...
This article presents an algorithm for robust nonlinear explicit model predictive control. A low complexity receding horizon control law is obtained by approximating the optimal control law using multiscale basis function approximation. Feasibility and inp ...
