Bernstein Polynomial-Based Adaptive Model Predictive Planning for Crazyflie UAVs
Date:
Conference presentation at the AIAA SciTech 2026 Forum, held January 12–16, 2026, in Orlando, Florida.
This talk presents recent UAV research on Bernstein polynomial-based model predictive planning with L1 adaptive augmentation for Crazyflie UAV trajectory tracking and disturbance rejection. The work focuses on real-time trajectory planning, adaptive compensation of off-nominal dynamics, and experimental validation under payload and airflow disturbances.