A drift-mode controller enables UAV trajectory tracking, collision avoidance, and thrust/sensor limit compliance in winds exceeding closed-loop stability by re-planning paths in a wind-aligned moving frame.
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Trajectory Generation for UAVs in Unknown Environments with Extreme Wind Disturbances
A drift-mode controller enables UAV trajectory tracking, collision avoidance, and thrust/sensor limit compliance in winds exceeding closed-loop stability by re-planning paths in a wind-aligned moving frame.