Motion Primitives-based Path Planning for Fast and Agile Exploration using Aerial Robots
Mihir Dharmadhikari,Tung Dang,Lukas Solanka,Johannes Loje,Huan Nguyen,Nikhil Khedekar,Kostas Alexis,Mihir Dharmadhikari,Tung Dang,Lukas Solanka,Johannes Loje,Huan Nguyen,Nikhil Khedekar,Kostas Alexis
This paper presents a novel path planning strategy for fast and agile exploration using aerial robots. Tailored to the combined need for large-scale exploration of challenging and confined environments, despite the limited endurance of micro aerial vehicles, the proposed planner employs motion primitives to identify admissible paths that search the configuration space, while exploiting the dynamic...
