Experiments in Adaptive Replanning for Fast Autonomous Flight in Forests
Laura Jarin-Lipschitz,Xu Liu,Yuezhan Tao,Vijay Kumar,Laura Jarin-Lipschitz,Xu Liu,Yuezhan Tao,Vijay Kumar
Fast, autonomous flight in unstructured, cluttered environments such as forests is challenging because it requires the robot to compute new plans in realtime on a computationally-constrained platform. In this paper, we enable this capability with a search-based planning framework that adapts sampling density in realtime to find dynamically-feasible plans while remaining computationally tractable. ...
