Unifying Quadrotor Motion Planning and Control by Chaining Different Fidelity Models

• URL: http://arxiv.org/abs/2512.12427v1
• Date: Sat, 13 Dec 2025 18:53:34 GMT
• Title: Unifying Quadrotor Motion Planning and Control by Chaining Different Fidelity Models
• Abstract summary: Unique is a unified MPC that cascades models of different fidelity within a single optimization.<n>We propose a 3D progressive smoothing schedule that morphs norm-based obstacles along the horizon.<n>Unique improves closed-loop position or velocity tracking by up to 75% compared with standard MPC and hierarchical planner-tracker baselines.
• Score: 23.059638804041672
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Many aerial tasks involving quadrotors demand both instant reactivity and long-horizon planning. High-fidelity models enable accurate control but are too slow for long horizons; low-fidelity planners scale but degrade closed-loop performance. We present Unique, a unified MPC that cascades models of different fidelity within a single optimization: a short-horizon, high-fidelity model for accurate control, and a long-horizon, low-fidelity model for planning. We align costs across horizons, derive feasibility-preserving thrust and body-rate constraints for the point-mass model, and introduce transition constraints that match the different states, thrust-induced acceleration, and jerk-body-rate relations. To prevent local minima emerging from nonsmooth clutter, we propose a 3D progressive smoothing schedule that morphs norm-based obstacles along the horizon. In addition, we deploy parallel randomly initialized MPC solvers to discover lower-cost local minima on the long, low-fidelity horizon. In simulation and real flights, under equal computational budgets, Unique improves closed-loop position or velocity tracking by up to 75% compared with standard MPC and hierarchical planner-tracker baselines. Ablations and Pareto analyses confirm robust gains across horizon variations, constraint approximations, and smoothing schedules.

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