{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,5]],"date-time":"2026-03-05T15:05:20Z","timestamp":1772723120631,"version":"3.50.1"},"reference-count":36,"publisher":"MDPI AG","issue":"9","license":[{"start":{"date-parts":[[2024,9,9]],"date-time":"2024-09-09T00:00:00Z","timestamp":1725840000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Real-time (re-)planning is crucial for autonomous quadrotors to navigate in uncertain environments where obstacles may be detected and trajectory plans must be adjusted on-the-fly to avoid collision. In this paper, we present a control system design for autonomous quadrotors that has real-time re-planning capability, including the hardware pipeline for the hardware\u2013software integration to realize the proposed real-time re-planning algorithm. The framework is based on a modified version of the PX4 Autopilot and a Raspberry Pi 5 companion computer. The planning algorithm utilizes minimum-snap trajectory generation, taking advantage of the differential flatness property of quadrotors, to realize computationally light, real-time re-planning using an onboard computer. We first verify the control system and the planning algorithm through simulation experiments, followed by implementing and demonstrating the system on hardware using a quadcopter.<\/jats:p>","DOI":"10.3390\/robotics13090136","type":"journal-article","created":{"date-parts":[[2024,9,9]],"date-time":"2024-09-09T05:59:08Z","timestamp":1725861548000},"page":"136","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["A Control System Design and Implementation for Autonomous Quadrotors with Real-Time Re-Planning Capability"],"prefix":"10.3390","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1230-658X","authenticated-orcid":false,"given":"Yevhenii","family":"Kovryzhenko","sequence":"first","affiliation":[{"name":"Department of Aerospace Engineering, Auburn University, Auburn, AL 36849, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7928-8796","authenticated-orcid":false,"given":"Nan","family":"Li","sequence":"additional","affiliation":[{"name":"School of Automotive Studies, Tongji University, Shanghai 201804, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6021-7012","authenticated-orcid":false,"given":"Ehsan","family":"Taheri","sequence":"additional","affiliation":[{"name":"Department of Aerospace Engineering, Auburn University, Auburn, AL 36849, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2024,9,9]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"466","DOI":"10.1017\/aer.2022.75","article-title":"Applications and classifications of unmanned aerial vehicles: A literature review with focus on multi-rotors","volume":"127","author":"Sabour","year":"2023","journal-title":"Aeronaut. 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