Variable Time-Step MPC for Agile Multi-Rotor UAV Interception of Dynamic Targets
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F25%3A00379000" target="_blank" >RIV/68407700:21230/25:00379000 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/LRA.2024.3518096" target="_blank" >https://doi.org/10.1109/LRA.2024.3518096</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/LRA.2024.3518096" target="_blank" >10.1109/LRA.2024.3518096</a>
Alternative languages
Result language
angličtina
Original language name
Variable Time-Step MPC for Agile Multi-Rotor UAV Interception of Dynamic Targets
Original language description
Agile trajectory planning can improve the efficiency of multi-rotor Uncrewed Aerial Vehicles (UAVs) in scenarios with combined task-oriented and kinematic trajectory planning, such as monitoring spatio-temporal phenomena or intercepting dynamic targets. Agile planning using existing non-linear model predictive control methods is limited by the number of planning steps as it becomes increasingly computationally demanding. That reduces the prediction horizon length, leading to a decrease in solution quality. Besides, the fixed time-step length limits the utilization of the available UAV dynamics in the target neighborhood. In this letter, we propose to address these limitations by introducing variable time steps and coupling them with the prediction horizon length. A simplified point-mass motion primitive is used to leverage the differential flatness of quadrotor dynamics and the generation of feasible trajectories in the flat output space. Based on the presented evaluation results and experimentally validated deployment, the proposed method increases the solution quality by enabling planning for long flight segments but allowing tightly sampled maneuvering.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2025
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
IEEE Robotics and Automation Letters
ISSN
2377-3766
e-ISSN
2377-3766
Volume of the periodical
10
Issue of the periodical within the volume
2
Country of publishing house
US - UNITED STATES
Number of pages
8
Pages from-to
1249-1256
UT code for WoS article
001385574500001
EID of the result in the Scopus database
2-s2.0-86000371695