Towards safe and optimal flight: Viability Kernel MPC for Fully Actuated Multirotor
arXiv:2608.25459v1 Announce Type: new Abstract: Industrial aerial robotics demands safety guarantees for navigation in unstructured environments while optimizing performance and computational efficiency. This paper presents a method for generating safe pose trajectories for fully actuated multirotors within a Model Predictive Control (MPC) framework, leveraging both viability theory and data-driven methods. Obstacle avoidance is enforced through dynamically computed axis-aligned bounding boxes,
Overview
arXiv:2608.25459v1 Announce Type: new Abstract: Industrial aerial robotics demands safety guarantees for navigation in unstructured environments while optimizing performance and computational efficiency. This paper presents a method for generating safe pose trajectories for fully actuated multirotors within a Model Predictive Control (MPC) framework, leveraging both viability theory and data-driven methods. Obstacle avoidance is enforced through dynamically computed axis-aligned bounding boxes, providing formal safety guarantees without exhaustive offline reachability analysis. Numerical simulations on a fully actuated tilted hexarotor validate the approach, demonstrating successful navigation in cluttered environments with real-time computational performance.
Source
Originally published at arxiv.org.
Related Articles
Source: https://arxiv.org/abs/2608.25459
