@inproceedings{3916a86c65eb461e91f578b4e5df2917,
title = "Jerk-Limited Trajectory Planning and Robust Control for Time-Optimal Flight of Quadrotors Through Narrow Gaps",
abstract = "This paper investigates the time-optimal flight traversing narrow gaps of quadrotors in cluttered environments that exploits a time-optimal trajectory planner and a tracking controller. Specifically, after the collision-free path is generated by the RRT* method, a jerk-limited trajectory is designed considering the optimality of time which satisfies the position and attitude constraints to fly through gaps. Then, a robust hierarchical controller is utilized for trajectory tracking consisting of a saturated control force and an attitude constraint control torque, where a dynamic estimator is introduced to counteract the disturbances. In addition, a switching algorithm is designed to improve the accuracy of traversing gaps. Finally, simulation results validate the proposed strategies.",
keywords = "Unmanned aerial vehicles (UAVs), narrow gaps, robust control, trajectory planning",
author = "Yiming Zhang and Kewei Xia",
note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2026.; 9th Chinese Conference on Swarm Intelligence and Cooperative Control, CCSICC 2025 ; Conference date: 31-10-2025 Through 03-11-2025",
year = "2026",
doi = "10.1007/978-981-95-8435-2\_33",
language = "English",
isbn = "9789819584345",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "401--412",
editor = "Qing Wang and Xiwang Dong and Peng Song",
booktitle = "Proceedings of 2025 9th Chinese Conference on Swarm Intelligence and Cooperative Control - Swarm Control Technologies",
address = "Germany",
}