无人机智能化的实现路径(高飞大佬)

轻量化

减少算法中的冗余部分以保持无人机的良好性能。

相关论文：

fast-planner相关文章:

RAPTOR: Robust and Perception-Aware Trajectory Replanning for Quadrotor Fast Flight | IEEE Journals & Magazine | IEEE Xplore

Robust and Efficient Quadrotor Trajectory Generation for Fast Autonomous Flight | IEEE Journals & Magazine | IEEE Xplore

Robust Real-time UAV Replanning Using Guided Gradient-based Optimization and Topological Paths | IEEE Conference Publication | IEEE Xplore

ego-planner相关文章：

EGO-Planner: An ESDF-Free Gradient-Based Local Planner for Quadrotors | IEEE Journals & Magazine | IEEE Xplore

ESDF相关文章

FIESTA: Fast Incremental Euclidean Distance Fields for Online Motion Planning of Aerial Robots | IEEE Conference Publication | IEEE Xplore

鲁棒性

增强无人机抗干扰能力，使之安全可靠。

相关论文：

CMPCC: Corridor-Based Model Predictive Contouring Control for Aggressive Drone Flight | SpringerLink

VID-Fusion: Robust Visual-Inertial-Dynamics Odometry for Accurate External Force Estimation | IEEE Conference Publication | IEEE Xplore

External Forces Resilient Safe Motion Planning for Quadrotor | IEEE Journals & Magazine | IEEE Xplore

VIMO: Simultaneous Visual Inertial Model-Based Odometry and Force Estimation | IEEE Journals & Magazine | IEEE Xplore（非高飞组）

Robust Trajectory Planning for a Multirotor against Disturbance based on Hamilton-Jacobi Reachability Analysis | IEEE Conference Publication | IEEE Xplore（非高飞组）

敏捷化

在一定约束条件下，使无人机实时且可行地通过快速调整姿态完成规划任务。

相关论文：

Teach-Repeat-Replan: A Complete and Robust System for Aggressive Flight in Complex Environments | IEEE Journals & Magazine | IEEE Xplore

[2103.00190v2] Geometrically Constrained Trajectory Optimization for Multicopters (arxiv.org)

[2105.10276v2] Fast-Racing: An Open-source Strong Baseline for SE(3) Planning in Autonomous Drone Racing (arxiv.org)

Efficient mixed-integer planning for UAVs in cluttered environments | IEEE Conference Publication | IEEE Xplore（非高飞组）

Minimum snap trajectory generation and control for quadrotors | IEEE Conference Publication | IEEE Xplore（非高飞组）

Robust autonomous flight in cluttered environment using a depth sensor - Liang Lu, Alexander Yunda, Adrian Carrio, Pascual Campoy, 2020 (sagepub.com)（非高飞组）

Fast UAV Trajectory Optimization using Bilevel Optimization with Analytical Gradients — University of Illinois Urbana-Champaign（非高飞组）

GPOPS-II: A MATLAB Software for Solving Multiple-Phase Optimal Control Problems Using hp-Adaptive Gaussian Quadrature Collocation Methods and Sparse Nonlinear Programming: ACM Transactions on Mathematical Software: Vol 41, No 1（非高飞组）

多无人机编队

实现微小、智能、合作、去中心化的无人机编队

相关论文：

[2011.04183v1] EGO-Swarm: A Fully Autonomous and Decentralized Quadrotor Swarm System in Cluttered Environments (arxiv.org)

[2109.07682] Distributed Swarm Trajectory Optimization for Formation Flight in Dense Environments (arxiv.org)

[2106.12481] Decentralized Spatial-Temporal Trajectory Planning for Multicopter Swarms (arxiv.org)

总结

轻量化、强鲁棒性、敏捷化常常互相关联，而这三者是实现微小、智能、合作、去中心化的无人机编队的关键所在。

未完待补充~~~

参考：Fastlab实验室高飞大佬讲解的导论内容