Author

Guan-Rui Li

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#artificial intelligence Preprint Oct 2026

ClearNav: Perception-Aligned Quadrotor Flight Using Differential-Physics

Autonomous quadrotor flight in cluttered environment is an key capability for tasks like inspection and search. Navigation policies trained in simulation and transferred to hardware can fly at high speed in open space, but they can still collide as obstacle clearance shrinks. We attribute most of these collisions to a...

Aditya Azad, Arthur Huang, Guan-Rui Li · 0 citations

Preprint Sep 2026

DQ-MPCC: Dual-Quaternion MPCC for Quadrotor Racing

Quadrotor racing demands aggressive attitude and progress control while passing through every gate, and conventional quadrotor MPCC formulations state the prediction model in inertial coordinates and the attitude error in the body frame. We present a Dual-Quaternion Model Predictive Contouring Control (DQ-MPCC) for qua...

Bryan S. Guevara, Luis F. Recalde, Guan-Rui Li et al. · 0 citations