Trajectory Generation and Control for Precise Aggressive Maneuvers with Quadrotors

  • Daniel MellingerEmail author
  • Nathan Michael
  • Vijay Kumar
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 79)


We study the problem of designing dynamically feasible trajectories and controllers that drive a quadrotor to a desired state in state space. We focus on the development of a family of trajectories defined as a sequence of segments, each with a controller parameterized by a goal state. Each controller is developed from the dynamic model of the robot and then iteratively refined through successive experimental trials to account for errors in the dynamic model and noise in the actuators and sensors. We show that this approach permits the development of trajectories and controllers enabling aggressive maneuvers such as flying through narrow, vertical gaps and perching on inverted surfaces with high precision and repeatability.


Pitch Angle Goal State Roll Angle Trajectory Generation Horizontal Opening 
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Copyright information

© Springer-Verlag GmbH Berlin Heidelberg 2014

Authors and Affiliations

  1. 1.GRASP LaboratoryUniversity of PennsylvaniaPhiladelphiaUSA

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