Crazyflie

An Efficient Real-Time NMPC for Quadrotor Position Control under Communication Time-Delay

Efficient implementation of real-time NMPC with time-delay compensation.

Least Conservative Linearized Constraint Formulation for Real-Time Motion Generation

Least conservative collision avoidance constraint for robotic systems.

Crazyflie

Real-time NMPC for nano-quadrotor motion generation.