Enforcing Vision-Based Localization using Perception Constrained N-MPC for Multi-Rotor Aerial Vehicles
Martin Jacquet,Antonio Franchi,Martin Jacquet,Antonio Franchi
This work introduces a Nonlinear Model Predictive Control (N-MPC) for camera-equipped Unmanned Aerial Vehicles (UAVs), which controls at the motor level the UAV motion to ensure the quality of vision-based state estimation while performing other tasks. The controller ensures visibility over a sufficient amount of features, while optimizing their coverage, based on an assessment of the estimation q...
