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.
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