Safety-Critical Rapid Aerial Exploration of Unknown Environments
Andrew Singletary,Thomas Gurriet,Petter Nilsson,Aaron D. Ames,Andrew Singletary,Thomas Gurriet,Petter Nilsson,Aaron D. Ames
This paper details a novel approach to collision avoidance for aerial vehicles that enables high-speed flight in uncertain environments. This framework is applied at the controller level and provides safety regardless of the planner that is used. The method is shown to be robust to state uncertainty and disturbances, and is computed entirely online utilizing the full nonlinear system dynamics. The...
