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About this paper
Baozhe Zhang, Xinwei Chen, Zhehan Li, Giovanni Beltrame, Chao Xu, Fei Gao, Yanjun Cao
CoNi-MPC, developed by researchers at Zhejiang University and Polytechnique Montreal, introduces a control framework for cooperative UAV-UGV systems that operates entirely within the target's non-inertial frame, thereby eliminating the need for global state estimation or prior target motion models. The system achieves precise relative motion tracking with average errors between 0.11 m and 0.24 m in real-world experiments, effectively handling complex dynamic maneuvers without continuous trajectory re-planning.
Key insights
- Controlling a UAV directly within a target's non-inertial frame is feasible by substituting world-frame dependencies with the target's direct IMU measurements, eliminating the need for global state estimation.
- The target's angular velocity significantly influences tracking error, identifying a critical parameter for robust performance in dynamic non-inertial environments.
- Utilizing pre-computed, fixed relative trajectories within the target's frame obviates continuous online trajectory re-planning, enabling complex cooperative tasks with reduced computational load.
Summary by alphaXiv.
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