IEEE

Model Predictive Trajectory Optimization and Control for UAV Replacement in Close Formation Flight With Local Minima Avoidance

Abstract: This paper proposes a model predictive trajectory optimization and control method for uncrewed aerial vehicle (UAV) replacement in close formation flight. When a UAV in close formation fails ...
IEEE

Actor–Critic Model Predictive Control: Differentiable Optimization Meets Reinforcement Learning for Agile Flight

Abstract: A key open challenge in agile quadrotor flight is how to combine the flexibility and task-level generality of model-free reinforcement learning (RL) with the structure and online replanning ...