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X-APPLE-TRAVEL-ADVISORY-BEHAVIOR:AUTOMATIC
UID:240491
DTSTAMP:20260810T143858Z
DTSTART;TZID=America/New_York:20260824T100000
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URL;TYPE=URI:https://www.wpi.edu/news/calendar/events/robotics-engineering-
 phd-speaking-and-writing-qualifiers-presentation-luis-fernando-recalde
SUMMARY:Robotics Engineering PhD Speaking and Writing Qualifiers Presentati
 on: Luis Fernando Recalde
DESCRIPTION:DQ-NMPC: Dual-Quaternion NMPC for Quadrotor Flight\n\n\nImage\n
   \n\n\n\nAbstract: MAVs have great potential to assist humans in complex 
 tasks, with applications ranging from logistics to emergency response. The
 ir agility makes them ideal for operations in complex and dynamic environm
 ents. However, achieving precise control in agile flights remains a signif
 icant challenge, particularly due to the underactuated nature of quadrotor
 s and the strong coupling between their translational and rotational dynam
 ics.  In this work, we propose a novel NMPC framework based on dual-quater
 nions (DQ-NMPC) for quadrotor flight. By representing both quadrotor dynam
 ics and the pose error directly on the dual-quaternion manifold, our appro
 ach enables a compact and globally non-singular formulation that captures 
 the quadrotor coupled dynamics. We validate our approach through simulatio
 ns and real-world experiments, demonstrating better numerical conditioning
  and significantly improved tracking performance, with reductions in posit
 ion and orientation errors of up to 56.11% and 56.77%, compared to a conve
 ntional baseline NMPC method. Furthermore, our controller successfully han
 dles aggressive trajectories, reaching maximum speeds up to 13.66 m/s and 
 accelerations reaching 4.2 g within confined space conditions of dimension
 s 10 m x 4.5 m x 3.65 m under which the baseline controller fails.\nAdviso
 r: Professor Guanrui LiCommittee: Professor Carlo Pinciroli, Professor Kev
 in Leahy\n
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