Agile Quadrotor

Agile quadrotor research focuses on developing control algorithms and robotic platforms enabling fast, precise, and robust flight maneuvers in complex environments. Current efforts concentrate on improving perception-based collision avoidance using techniques like model predictive control (MPC) and adaptive control barrier functions, alongside robust state estimation methods such as moving horizon estimation (MHE) incorporating Gaussian processes to handle aerodynamic uncertainties. These advancements are significant for expanding the capabilities of autonomous aerial robots in applications such as inspection, search and rescue, and delivery, particularly in challenging or unstructured settings.