DR-IPC: Disturbance-Resilient Integrated Planning and Control for LiDAR-Based Quadrotor Navigation

Peng Liu1, Jingyan Wang1, Qipeng Ye2, Wen Li1, Jinya Su1,3, Senior Member, IEEE, Zuo Wang1, Member, IEEE, Shihua Li1,3, Fellow, IEEE, Yunda Yan4, Senior Member, IEEE
1School of Automation, Southeast University 2Xiamen University of Technology 3Institute of Intelligent Unmanned Systems, Southeast University 4University College London
Paper Code YouTube Bilibili

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Pipeline of the proposed DR-IPC framework
Pipeline of the proposed DR-IPC. The frontend provides a collision-free reference path, while the NMPC backend jointly considers SFC violation penalties, quadrotor dynamics, noise, and disturbance. (The main contributions are in red.)

Experimental Overview

Overview of the DR-IPC flight experiments
Experimental overview of DR-IPC. Representative indoor and outdoor experiments under disturbances and in cluttered environments.

Throwing Ball Impact in Hover

Suspended-Payload Transportation with Wind

Suspended-Payload Transportation with Dynamic Obstacle

Outdoor Experiments

Outdoor Flight at Night

Disturbance-resilient UAV transport in a cluttered factory: scenario 1

Disturbance-resilient UAV transport in a cluttered factory: scenario 2

BibTeX

@article{liu2026dripc,
  title={DR-IPC: Disturbance-Resilient Integrated Planning and Control for LiDAR-Based Quadrotor Navigation},
  author={Liu, Peng and Wang, Jingyan and Ye, Qipeng and Li, Wen and Su, Jinya and Wang, Zuo and Li, Shihua and Yan, Yunda},
  year={2026}
}