This article provides an overview of model predictive control (MPC) frameworks for dynamic
operation of nonlinear constrained systems. Dynamic operation is often an integral part of …

First-person view (FPV) drone racing is a televised sport in which professional competitors
pilot high-speed aircraft through a 3D circuit. Each pilot sees the environment from the …

A central question in robotics is how to design a control system for an agile mobile robot.
This paper studies this question systematically, focusing on a challenging setting …

Quadrotor Unmanned Aerial Vehicle (UAV) is an unstable system, so it needs to be
controlled efficiently and intelligently. Moreover, due to its non-linear, coupled, and under …

Autonomous, agile quadrotor flight raises fundamental challenges for robotics research in
terms of perception, planning, learning, and control. A versatile and standardized platform is …

Accurate trajectory-tracking control for quadrotors is essential for safe navigation in cluttered
environments. However, this is challenging in agile flights due to nonlinear dynamics …

Agile quadrotor flight in challenging environments has the potential to revolutionize
shipping, transportation, and search and rescue applications. Nonlinear model predictive …

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 …

An open research question in robotics is how to combine the benefits of model-free
reinforcement learning (RL)—known for its strong task performance and flexibility in …

In this letter, we tackle the problem of flying a quadrotor using time-optimal control policies
that can be replanned online when the environment changes or when encountering …