GRASP实验室飞控技术: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.