prg_QuadrotorPapers

All papers and resources related to Quadrotor Research.

Quadrotor basics

Minimum Snap Trajectory: Kumar's Minimum Snap trajectory generator. Code
Polynomial trajectory planning for aggressive quadrotor flight in dense indoor environments: Nicholas Roy's MIT trajectory generator. Code
A computationally efficient motion primitive for quadrocopter trajectory generation: Raffaello D’Andrea's trajectory generator. Code
Search-based Motion Planning for Aggressive Flight in SE(3): Kumar's aggressive motion planning, can go through a forest aggressively. Code

Design of Decoupling and Nonlinear PD Controller for Cruise Control of a Quadrotor. Aug 2017.
Modelling and control of quadcopter, Teppo Luukkonen. (2011)
Aggressive Quadrotor Flight through Narrow Gaps with Onboard Sensing and Computing using Active Vision, Falanga, David Scaramuzza et al, (ICRA 2017). Supplementary video
N. Michael, D. Mellinger, Q. Lindsey, and V. Kumar, “The GRASP multiple micro UAV testbed,” IEEE Robot. Autom. Mag., vol. 17, no. 3, pp. 56–65, Sep. 2010.
M. Faessler, F. Fontana, C. Forster, and D. Scaramuzza, “Automatic reinitialization and failure recovery for aggressive flight with a monocular vision-based quadrotor,” in Proc. IEEE Int. Conf. Robot. Autom., 2015, pp. 1722–1729.
D. Mellinger, N. Michael, and V. Kumar, “Trajectory generation and control for precise aggressive maneuvers with quadrotors,” Int. J. Robot. Res., vol. 31, no. 5, pp. 664–674, 2012.
M. Hehn and R. D’Andrea, “A frequency domain iterative learning algorithm for high-performance, periodic quadrocopter maneuvers,” J. Mechatronics, vol. 24, no. 8, pp. 954–965, 2014.

Visual-Inertial-Aided Navigation for High-Dynamic Motion in Built Environments Without Initial Conditions: Sukkarieh's first paper on VIO using a Pre-Integrated factor. Code
IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation: Scaramuzza's VIO paper for pre-integration on Manifold, used in project Tango. Code
The Battle for Filter Supremacy: A Comparative Study of the Multi-State Constraint Kalman Filter and the Sliding Window Filter: Lee Clement's awesome comparsion paper. Code
Iterated extended Kalman filter based visual-inertial odometry using direct photometric feedback: ETH-Z ROVIO paper. Works like a charm. Code
MSCKF based Monocular VIO: Kostas' Implementation of MSKF based monocular VIO used in EVIO paper. Code
VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator: Shaojie's awesome VIO code. Code
A Benchmark Comparison of Monocular Visual-Inertial Odometry Algorithms for Flying Robots: Scaramuzza's great comparison of SVO, MSCKF, OKVIS, ROVIO and VINS on different computers: Laptop, Intel NUC, Up Board and ODROID.