Posts tagged Alex Spitzer
Experience-driven Predictive Control with Robust Constraint Satisfaction under Time-Varying State Uncertainty

Vehicle dynamics and model parameters are rarely well known in practice. Robot controllers are further challenged by actuator constraints and noisy state estimates. This paper presents a controller that efficiently learns vehicle dynamics while at the same time efficiently ensuring that the vehicle satisfies state and input constraints in the presence of state uncertainty. Tracking error improvements are shown while maintaining constraint satisfaction and flying a quadrotor through a windy environment.

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Fast and Agile Vision-Based Flight with Teleoperation and Collision Avoidance on a Multirotor

We present a system capable of flying fast and with agility while avoiding obstacles and obeying user commands. Our flying hexarotor robot can be flown as aggressively as a racing drone by an untrained operator while actively avoiding collisions with the surrounding environment.

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