Aerial Robotics

A radar- and RTK-enabled UAV system for autonomous balcony entry and parcel delivery.

An open-source ROS/Python framework for quadrotor simulation and real-world control using NMPC and LQR.

We develop an efficient trajectory optimization framework for generalized multirotors using sequential convex programming and convexity exploitation.

We present an online trajectory planning approach for covert UAV surveillance in urban environments using sequential convex optimization.

We present a successive-convexification trajectory-optimization framework that exploits convex gate-passage geometry for safe, time-optimal drone racing and validate it in real-world flight experiments.

We present an autonomous aerial vehicle carrier and MAV collaboration system integrating system design, trajectory optimization, and real-world implementation.