Efficient Trajectory Library Filtering for Quadrotor Flight in Unknown Environments
Vaibhav K. Viswanathan,Eric Dexheimer,Guanrui Li,Giuseppe Loianno,Michael Kaess,Sebastian Scherer,Vaibhav K. Viswanathan,Eric Dexheimer,Guanrui Li,Giuseppe Loianno,Michael Kaess,Sebastian Scherer
Quadrotor flight in cluttered, unknown environments is challenging due to the limited range of perception sensors, challenging obstacles, and limited onboard computation. In this work, we directly address these challenges by proposing an efficient, reactive planning approach. We introduce the Bitwise Trajectory Elimination (BiTE) algorithm for efficiently filtering out in-collision trajectories fr...
