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Minimum snap trajectory generation and control for quadrotors
An algorithm is developed that enables the real-time generation of optimal trajectories through a sequence of 3-D positions and yaw angles, while ensuring safe passage through specified corridors and satisfying constraints on velocities, accelerations and inputs. Expand
Multirotor Aerial Vehicles: Modeling, Estimation, and Control of Quadrotor
This article provides a tutorial introduction to modeling, estimation, and control for multirotor aerial vehicles that includes the common four-rotor or quadrotor case.
A vision-based formation control framework
The mobility of the backplane prevents the connectors and/or the backplanes from breaking as the rack moves, and there is a tolerance for alignment of the connectors enabling connection of the connector. Expand
The GRASP Multiple Micro-UAV Testbed
In the last five years, advances in materials, electronics, sensors, and batteries have fueled a growth in the development of microunmanned aerial vehicles (MAVs) that are between 0.1 and 0.5 m inExpand
Modeling and control of formations of nonholonomic mobile robots
This paper addresses the control of a team of nonholonomic mobile robots navigating in a terrain with obstacles while maintaining a desired formation and changing formations when required, usingExpand
Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight
It is demonstrated that the stereo multistate constraint Kalman filter (S-MSCKF) is comparable to state-of-the-art monocular solutions in terms of computational cost, while providing significantly greater robustness. Expand
The Multivehicle Stereo Event Camera Dataset: An Event Camera Dataset for 3D Perception
This letter presents a large dataset with a synchronized stereo pair event based camera system, carried on a handheld rig, flown by a hexacopter, driven on top of a car, and mounted on a motorcycle, in a variety of different illumination levels and environments. Expand
Controlling formations of multiple mobile robots
Methods of feedback linearization are used to exponentially stabilize the relative distance and orientation of the follower, and it is shown that the zero dynamics of the system are also (asymptotically) stable. Expand
Robotic grasping and contact: a review
  • A. Bicchi, Vijay R. Kumar
  • Engineering, Computer Science
  • Proceedings ICRA. Millennium Conference. IEEE…
  • 24 April 2000
In this paper, we survey the field of robotic grasping and the work that has been done in this area over the last two decades, with a slight bias toward the development of the theoretical frameworkExpand
Autonomous multi-floor indoor navigation with a computationally constrained MAV
This paper addresses multi-floor mapping with loop closure, localization, planning, and autonomous control, including adaptation to aerodynamic effects during traversal through spaces with low vertical clearance or strong external disturbances. Expand