DQ-MPCC: Dual-Quaternion MPCC for Quadrotor Racing

arXiv:2609.36482 · cs.RO, cs.SY, eess.SY · Submitted 2026-09-29 · Read on arXiv

cs.RO, cs.SY, eess.SY

Submitted: 2026-09-29

Updated: 2026-09-29

Comments: 8 pages, 6 figures. Submitted to IEEE Robotics and Automation Letters

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Ablation — 3× in this paper · explained in 1 episode
• Model Predictive Contouring Control — 2× in this paper
• Regularization — 2× in this paper · explained in 3 episodes
• Aperture — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Error Decomposition — 1× in this paper · explained in 3 episodes
• Sim-to-Real Gap — 1× in this paper · explained in 6 episodes
• Worcester Polytechnic Institute — 1× in this paper

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