MPCC using arc-length parameterization and a compact coupled-dynamics model enables precise trajectory tracking for bird-scale ornithopters without predefined speed profiles.
Controlled flight of an insect-scale flapping-wing robot via integrated onboard sensing and computation
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Accurate Trajectory Tracking with MPCC for Flapping-Wing MAVs
MPCC using arc-length parameterization and a compact coupled-dynamics model enables precise trajectory tracking for bird-scale ornithopters without predefined speed profiles.