A Control System Design and Implementation for Autonomous Quadrotors with Real-Time Re-Planning Capability Article Swipe
Yevhenii Kovryzhenko
,
Nan Li
,
Ehsan Taheri
·
YOU?
·
· 2024
· Open Access
·
· DOI: https://doi.org/10.3390/robotics13090136
YOU?
·
· 2024
· Open Access
·
· DOI: https://doi.org/10.3390/robotics13090136
Real-time (re-)planning is crucial for autonomous quadrotors to navigate in uncertain environments where obstacles may be detected and trajectory plans must be adjusted on-the-fly to avoid collision. In this paper, we present a control system design for autonomous quadrotors that has real-time re-planning capability, including the hardware pipeline for the hardware–software integration to realize the proposed real-time re-planning algorithm. The framework is based on a modified version of the PX4 Autopilot and a Raspberry Pi 5 companion computer. The planning algorithm utilizes minimum-snap trajectory generation, taking advantage of the differential flatness property of quadrotors, to realize computationally light, real-time re-planning using an onboard computer. We first verify the control system and the planning algorithm through simulation experiments, followed by implementing and demonstrating the system on hardware using a quadcopter.
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- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.3390/robotics13090136
- OA Status
- gold
- Cited By
- 6
- References
- 35
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4402367469
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4402367469Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.3390/robotics13090136Digital Object Identifier
- Title
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A Control System Design and Implementation for Autonomous Quadrotors with Real-Time Re-Planning CapabilityWork title
- Type
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articleOpenAlex work type
- Language
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enPrimary language
- Publication year
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2024Year of publication
- Publication date
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2024-09-09Full publication date if available
- Authors
-
Yevhenii Kovryzhenko, Nan Li, Ehsan TaheriList of authors in order
- Landing page
-
https://doi.org/10.3390/robotics13090136Publisher landing page
- Open access
-
YesWhether a free full text is available
- OA status
-
goldOpen access status per OpenAlex
- OA URL
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https://doi.org/10.3390/robotics13090136Direct OA link when available
- Concepts
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Control engineering, Control (management), Real-time Control System, Computer science, Control system, Systems engineering, Engineering, Artificial intelligence, Electrical engineeringTop concepts (fields/topics) attached by OpenAlex
- Cited by
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6Total citation count in OpenAlex
- Citations by year (recent)
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2025: 6Per-year citation counts (last 5 years)
- References (count)
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35Number of works referenced by this work
- Related works (count)
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10Other works algorithmically related by OpenAlex
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| abstract_inverted_index.quadrotors, | 93 |
| abstract_inverted_index.re-planning | 42, 57, 99 |
| abstract_inverted_index.differential | 89 |
| abstract_inverted_index.environments | 11 |
| abstract_inverted_index.experiments, | 116 |
| abstract_inverted_index.implementing | 119 |
| abstract_inverted_index.minimum-snap | 82 |
| abstract_inverted_index.(re-)planning | 1 |
| abstract_inverted_index.demonstrating | 121 |
| abstract_inverted_index.computationally | 96 |
| abstract_inverted_index.hardware–software | 50 |
| cited_by_percentile_year.max | 99 |
| cited_by_percentile_year.min | 98 |
| countries_distinct_count | 2 |
| institutions_distinct_count | 3 |
| citation_normalized_percentile.value | 0.88547592 |
| citation_normalized_percentile.is_in_top_1_percent | False |
| citation_normalized_percentile.is_in_top_10_percent | True |