quadrotors

Sequential Convex Programming Toolbox for nonconvex trajectory optimization.

Nonlinear Model-Predictive Control on Resource-Constrained Microcontrollers

Learning Model Predictive Control for Quadrotors Minimum-Time Flight in Autonomous Racing Scenarios

Simulation platform for drones swarms

MAVeric generates minimum snap trajectories for quadrotors and comes with a simple to use GUI, a visualization and simulation of the trajectory, and a CLI version.

I demonstrate a methodology to implement Linear MPC on a non-Linear system of Quadrotor. While the underlying non-linear dynamics are encapsulated, the high-level control is employed to achieve a Linear control system to use a Linear MPC controller.

Mission control, Visual detection, Estimation, Mapping and Planning for the wall building challenge of the MBZIRC 2020 competition.

Paper proposal and presentation for the module Control Problems in Robotics: Modelling and Control of Multi-Rotor UAVs (Fall 2018) at Sapienza University of Rome.

BEMT sizing tool for small quadrotor conceptual design, with as-built validation

Quadrotor control, path planning and trajectory optimization

Coursework for Aerial Robotics on Coursera

A Python package for Koopman-based Linear Model Predictive Control (LMPC), delivering real-time trajectory tracking for quadrotors using analytical Koopman lifting (no training data required), demonstrated in MuJoCo Menagerie Skydio X2 drone.

A UAV SIMULATION ENGINE FOR LOGISTICS APPLICATIONS IN FUTURE SMART CITIES

Design, optimize, and build a quadrotor using MATLAB BEMT sizing and SolidWorks CAD for 300g payload and 20-minute endurance.