Safe Drone Flight with Time-Varying Backup Controllers

T. Lee, M. Leok, and N. H. McClamroch, “Geometric tracking control of a quadrotor UAV on SE(3),” in 49th IEEE Conference on Decision and Control (CDC) , 2010, pp. 5420–5425

2010

Earlier work this paper cites.

D. Mellinger and V. Kumar, “Minimum snap trajectory generation and control for quadrotors,” in 2011 IEEE international conference on robotics and automation . IEEE, 2011, pp. 2520–2525

2011

Earlier work this paper cites.

K. Sreenath, T. Lee, and V. Kumar, “Geometric control and differential flatness of a quadrotor uav with a cable-suspended load,” in 52nd IEEE Conference on Decision and Control . IEEE, 2013, pp. 2269–2274

2013

Earlier work this paper cites.

M. W. Mueller and R. D’Andrea, “Stability and control of a quadrocopter despite the complete loss of one, two, or three propellers,” in 2014 IEEE international conference on robotics and automation (ICRA) . IEEE, 2014, pp. 45–52

2014

Earlier work this paper cites.

G. Wu and K. Sreenath, “Safety-critical control of a 3d quadrotor with range-limited sensing,” in Dynamic Systems and Control Conference , vol. 50695. American Society of Mechanical Engineers, 2016, p. V001T05A006

2016

Earlier work this paper cites.

J. Hwangbo, I. Sa, R. Siegwart, and M. Hutter, “Control of a quadrotor with reinforcement learning,” IEEE Robotics and Automation Letters , vol. 2, no. 4, pp. 2096–2103, 2017

2017

Earlier work this paper cites.

M. Faessler, A. Franchi, and D. Scaramuzza, “Differential flatness of quadrotor dynamics subject to rotor drag for accurate tracking of high-speed trajectories,” IEEE Robotics and Automation Letters , vol. 3, no. 2, pp. 620–626, 2017

2017

Earlier work this paper cites.

A. D. Ames, X. Xu, J. W. Grizzle, and P. Tabuada, “Control barrier function based quadratic programs for safety critical systems,” IEEE Transactions on Automatic Control , vol. 62, no. 8, pp. 3861–3876, 2017

2017

Cited alongside, same era.

B. Xu and K. Sreenath, “Safe teleoperation of dynamic uavs through control barrier functions,” in 2018 IEEE International Conference on Robotics and Automation (ICRA) . IEEE, 2018, pp. 7848–7855

2018

Cited alongside, same era.

L. Wang, E. A. Theodorou, and M. Egerstedt, “Safe learning of quadrotor dynamics using barrier certificates,” in 2018 IEEE International Conference on Robotics and Automation (ICRA) . IEEE, 2018, pp. 2460–2465

2018

Cited alongside, same era.

T. Gurriet, M. Mote, A. D. Ames, and E. Feron, “An online approach to active set invariance,” in 2018 IEEE Conference on Decision and Control (CDC) . IEEE, 2018, pp. 3592–3599

2018

Cited alongside, same era.

Y. Chen, A. Singletary, and A. D. Ames, “Guaranteed obstacle avoidance for multi-robot operations with limited actuation: A control barrier function approach,” IEEE Control Systems Letters , vol. 5, no. 1, pp. 127–132, 2020

2020

Later among the works it cites.

A. Singletary, T. Gurriet, P. Nilsson, and A. D. Ames, “Safety-critical rapid aerial exploration of unknown environments,” in 2020 IEEE International Conference on Robotics and Automation (ICRA) . IEEE, 2020, pp. 10 270–10 276

2020

Later among the works it cites.

A. Loquercio, E. Kaufmann, R. Ranftl, M. Müller, V. Koltun, and D. Scaramuzza, “Learning high-speed flight in the wild,” Science Robotics , vol. 6, no. 59, p. eabg5810, 2021

2021

Later among the works it cites.

S. Sun, A. Romero, P. Foehn, E. Kaufmann, and D. Scaramuzza, “A comparative study of nonlinear mpc and differential-flatness-based control for quadrotor agile flight,” arXiv preprint arXiv:2109.01365 , 2021

Original

2021

Later among the works it cites.