Stabilization of Systems with Changing Dynamics
HSCC '98 Proceedings of the First International Workshop on Hybrid Systems: Computation and Control
Path Planning and Flight Controller Scheduling for an Autonomous Helicopter
HSCC '99 Proceedings of the Second International Workshop on Hybrid Systems: Computation and Control
Optimal Coordinated Motions of Multiple Agents Moving on a Plane
SIAM Journal on Control and Optimization
Synthesis of Trajectory-Dependent Control Lyapunov Functions by a Single Linear Program
HSCC '09 Proceedings of the 12th International Conference on Hybrid Systems: Computation and Control
Apprenticeship learning for helicopter control
Communications of the ACM - Barbara Liskov: ACM's A.M. Turing Award Winner
Performing aggressive maneuvers using iterative learning control
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Scalable control of decentralised sensor platforms
IPSN'03 Proceedings of the 2nd international conference on Information processing in sensor networks
Maneuver-based motion planning for nonlinear systems with symmetries
IEEE Transactions on Robotics
Controllers for reachability specifications for hybrid systems
Automatica (Journal of IFAC)
Brief paper: On optimal control of non-autonomous switched systems with a fixed mode sequence
Automatica (Journal of IFAC)
Survey of advances in guidance, navigation, and control of unmanned rotorcraft systems
Journal of Field Robotics
A Passive Velocity Field Control for Navigation of Quadrotors with Model-free Integral Sliding Modes
Journal of Intelligent and Robotic Systems
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The control of complex non-linear systems can be aided by modeling each system as a collection of simplified hybrid modes, with each mode representing a particular operating regime defined by the system dynamics or by a region of the state space in which the system operates. Guarantees on the safety and performance of such hybrid systems can still be challenging to generate, however. Reachability analysis using a dynamic game formulation with Hamilton芒聙聰Jacobi methods provides a useful way to generate these types of guarantees, and the technique is flexible enough to analyze a wide variety of systems. This paper presents two applications of reachable sets, both focused on guaranteeing the safety and performance of robotic aerial vehicles. In the first example, reachable sets are used to design and implement a backflip maneuver for a quadrotor helicopter. In the second, reachability analysis is used to design a decentralized collision avoidance algorithm for multiple quadrotors. The theory for both examples is explained, and successful experimental results are presented from flight tests on the STARMAC quadrotor helicopter platform.