Learning Perception-Aware Agile Flight in Cluttered Environments
Yunlong Song,Kexin Shi,Robert Penicka,Davide Scaramuzza,Yunlong Song,Kexin Shi,Robert Penicka,Davide Scaramuzza
Recently, neural control policies have outperformed existing model-based planning-and-control methods for autonomously navigating quadrotors through cluttered environments in minimum time. However, they are not perception aware, a crucial requirement in vision-based navigation due to the camera's limited field of view and the underactuated nature of a quadrotor. We propose a learning-based system ...
