Risk-aware Motion Planning for Collision-tolerant Aerial Robots subject to Localization Uncertainty
Paolo De Petris,Mihir Dharmadhikari,Huan Nguyen,Kostas Alexis,Paolo De Petris,Mihir Dharmadhikari,Huan Nguyen,Kostas Alexis
This paper contributes a novel strategy towards risk-aware motion planning for collision-tolerant aerial robots subject to localization uncertainty. Attuned to the fact that micro aerial vehicles are often tasked to navigate within GPS-denied, possibly unknown, confined and obstacle-filled environments the proposed method exploits collision-tolerance at the robot design level to mitigate the risks...
