Cover Image

MPCC++: Model Predictive Contouring Control for Time-Optimal Flight with Safety Constraints

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Krinner, Maria, Romero, Angel, Bauersfeld, Leonard, Zeilinger, Melanie, Carron, Andrea, Scaramuzza, Davide
Format:	Preprint
Published:	2024
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Range, Endurance, and Optimal Speed Estimates for Multicopters
by: Bauersfeld, Leonard, et al.
Published: (2021)

Bootstrapping Reinforcement Learning with Imitation for Vision-Based Agile Flight
by: Xing, Jiaxu, et al.
Published: (2024)

Demonstrating Agile Flight from Pixels without State Estimation
by: Geles, Ismail, et al.
Published: (2024)

Low-Latency Event-Based Velocimetry for Quadrotor Control in a Narrow Pipe
by: Bauersfeld, Leonard, et al.
Published: (2025)

A Monocular Event-Camera Motion Capture System
by: Bauersfeld, Leonard, et al.
Published: (2025)

Unifying Quadrotor Motion Planning and Control by Chaining Different Fidelity Models
by: Reiter, Rudolf, et al.
Published: (2025)

HDVIO2.0: Wind and Disturbance Estimation with Hybrid Dynamics VIO
by: Cioffi, Giovanni, et al.
Published: (2025)

Contrastive Learning for Enhancing Robust Scene Transfer in Vision-based Agile Flight
by: Xing, Jiaxu, et al.
Published: (2023)

Approximate Imitation Learning for Event-based Quadrotor Flight in Cluttered Environments
by: Messikommer, Nico, et al.
Published: (2026)

Drift-free Visual SLAM using Digital Twins
by: Merat, Roxane, et al.
Published: (2024)

Vision-Based Agile Landing on Turbulent Waters
by: Angelis, Dimosthenis, et al.
Published: (2026)

Real-Time Online Learning for Model Predictive Control using a Spatio-Temporal Gaussian Process Approximation
by: Bartels, Lars, et al.
Published: (2026)

Perception-Aware Time-Optimal Planning for Quadrotor Waypoint Flight
by: Qin, Chao, et al.
Published: (2026)

Accelerating Model-Based Reinforcement Learning with State-Space World Models
by: Krinner, Maria, et al.
Published: (2025)

Uncertainty-Aware Perception-Based Control for Autonomous Racing
by: Trisovic, Jelena, et al.
Published: (2025)

Constraint-Aware Diffusion Guidance for Robotics: Real-Time Obstacle Avoidance for Autonomous Racing
by: Ma, Hao, et al.
Published: (2025)

Superhuman Safe and Agile Racing through Multi-Agent Reinforcement Learning
by: Geles, Ismail, et al.
Published: (2026)

Robotics meets Fluid Dynamics: A Characterization of the Induced Airflow below a Quadrotor as a Turbulent Jet
by: Bauersfeld, Leonard, et al.
Published: (2024)

EAAE: Energy-Aware Autonomous Exploration for UAVs in Unknown 3D Environments
by: Elskamp, Jacob, et al.
Published: (2026)

Distributed Predictive Control Barrier Functions: Towards Scalable Safety Certification in Modular Multi-Agent Systems
by: Ohnemus, Jonas, et al.
Published: (2026)

Actor-Critic Model Predictive Control: Differentiable Optimization meets Reinforcement Learning for Agile Flight
by: Romero, Angel, et al.
Published: (2023)

Robust Adaptive Predictive Control for Hook-Based Aerial Transportation Between Moving Platforms
by: Antal, Péter, et al.
Published: (2026)

A Comparative Study of Nonlinear MPC and Differential-Flatness-Based Control for Quadrotor Agile Flight
by: Sun, Sihao, et al.
Published: (2021)

Contextual Tuning of Model Predictive Control for Autonomous Racing
by: Fröhlich, Lukas P., et al.
Published: (2021)

Time-Varying Coverage Control: A Distributed Tracker-Planner MPC Framework
by: Eberhard, Patrick Benito, et al.
Published: (2025)

Autonomous Drone Racing: A Survey
by: Hanover, Drew, et al.
Published: (2023)

Agile Robotics: Optimal Control, Reinforcement Learning, and Differentiable Simulation
by: Song, Yunlong, et al.
Published: (2024)

Learning Acrobatic Flight from Preferences
by: Merk, Colin, et al.
Published: (2025)

Inherently robust suboptimal MPC for autonomous racing with anytime feasible SQP
by: Numerow, Logan, et al.
Published: (2024)

Performance-driven Constrained Optimal Auto-Tuner for MPC
by: Puigjaner, Albert Gassol, et al.
Published: (2025)

Dream to Fly: Model-Based Reinforcement Learning for Vision-Based Drone Flight
by: Romero, Angel, et al.
Published: (2025)

Learning Agile Quadrotor Flight in the Real World
by: Ren, Yunfan, et al.
Published: (2026)

PA-MPPI: Perception-Aware Model Predictive Path Integral Control for Quadrotor Navigation in Unknown Environments
by: Zhai, Yifan, et al.
Published: (2025)

Perfecting Periodic Trajectory Tracking: Model Predictive Control with a Periodic Observer ($Π$-MPC)
by: Pabon, Luis, et al.
Published: (2024)

An MPC framework for efficient navigation of mobile robots in cluttered environments
by: Köhler, Johannes, et al.
Published: (2025)

Accurate Trajectory Tracking with MPCC for Flapping-Wing MAVs
by: Toumieh, Charbel, et al.
Published: (2026)

Stochastic Data-Driven Predictive Control: Chance-Constraint Satisfaction with Identified Multi-step Predictors
by: Balim, Haldun, et al.
Published: (2024)

Learning Quadrotor Control From Visual Features Using Differentiable Simulation
by: Heeg, Johannes, et al.
Published: (2024)

Reactive Model Predictive Contouring Control for Robot Manipulators
by: Yoon, Junheon, et al.
Published: (2025)

Model Predictive Control with Reference Learning for Soft Robotic Intracranial Pressure Waveform Modulation
by: Flürenbrock, Fabian, et al.
Published: (2025)