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Crazyswarm: A large nano-quadcopter swarm
This work defines a system architecture for a large swarm of miniature quadcopters flying in dense formation indoors and develops a method to reliably track many small rigid bodies with identical motion-capture marker arrangements for state estimation. Expand
Trajectory Planning for Quadrotor Swarms
The proposed method can compute safe and smooth trajectories for hundreds of quadrotors in dense environments with obstacles in a few minutes, and is demonstrated on a quadrotor swarm navigating in a warehouse setting. Expand
Sim-to-(Multi)-Real: Transfer of Low-Level Robust Control Policies to Multiple Quadrotors
To the best of the knowledge, this is the first work that demonstrates that a simple neural network can learn a robust stabilizing low-level quadrotor controller (without the use of a stabilizing PD controller) that is shown to generalize to multiple quadrotors. Expand
Trajectory Optimization for Self-Calibration and Navigation
This work proposes to add the cost of state observability to the trajectory optimization in order to ensure fast and accurate state estimation throughout the mission while still respecting the constraints of vehicle dynamics and the environment. Expand
Simultaneous self-calibration and navigation using trajectory optimization
We describe a trajectory optimization framework that maximizes observability of one or more user-chosen states in a nonlinear system. Our framework is based on a novel metric for quality ofExpand
Downwash-aware trajectory planning for large quadrotor teams
This work describes a method for formation-change trajectory planning for large quadrotor teams in obstacle-rich environments that can compute safe and smooth trajectories for hundreds of quadrotors in dense environments with obstacles in a few minutes. Expand
Resilience by Reconfiguration: Exploiting Heterogeneity in Robot Teams
A method to maintain high resource availability in a networked heterogeneous multi-robot system subject to resource failures is proposed and a metric is defined that allows us to characterize the quality of the resource distribution in the network represented by the communication graph. Expand
Observability-Aware Trajectory Optimization for Self-Calibration With Application to UAVs
This work develops an observability-aware trajectory-optimization framework for nonlinear systems that produces trajectories well suited for self-calibration and reasons about the quality of observability while respecting system dynamics and motion constraints to yield the optimal trajectory for rapid convergence. Expand
Downwash-Aware Trajectory Planning for Quadrotor Swarms
We describe a trajectory planning pipeline for large quadrotor teams in obstacle-rich environments. We construct a sparse roadmap in the environment and use a boundedsuboptimal conflict-based graphExpand
Analyzing the Variance of Policy Gradient Estimators for the Linear-Quadratic Regulator
This work studies the variance of the REINFORCE policy gradient estimator in environments with continuous state and action spaces, linear dynamics, quadratic cost, and Gaussian noise to derive bounds on the estimator variance in terms of the environment and noise parameters. Expand