Perception-constrained and Motor-level Nonlinear MPC for both Underactuated and Tilted-propeller UAVS
Martin Jacquet,Gianluca Corsini,Davide Bicego,Antonio Franchi,Martin Jacquet,Gianluca Corsini,Davide Bicego,Antonio Franchi
In this paper, we present a Perception-constrained Nonlinear Model Predictive Control (NMPC) framework for the real-time control of multi-rotor aerial vehicles. Our formulation considers both constraints from a perceptive sensor and realistic actuator limitations that are the rotor minimum and maximum speeds and accelerations. The formulation is meant to be generic and considers a large range of m...
