Perception-and-Energy-aware Motion Planning for UAV using Learning-based Model under Heteroscedastic Uncertainty
Reiya Takemura,Genya Ishigami,Reiya Takemura,Genya Ishigami
Global navigation satellite systems (GNSS) denied environments/conditions require unmanned aerial vehicles (UAVs) to energy-efficiently and reliably fly. To this end, this study presents perception-and-energy-aware motion planning for UAVs in GNSS-denied environments. The proposed planner solves the trajectory planning problem by optimizing a cost function consisting of two indices: the total ener...
