Obstacle avoidance using Raycasting and Riemannian Motion Policies at kHz rates for MAVs
Michael Pantic,Isar Meijer,Rik Bähnemann,Nikhilesh Alatur,Olov Andersson,Cesar Cadena,Roland Siegwart,Lionel Ott,Michael Pantic,Isar Meijer,Rik Bähnemann,Nikhilesh Alatur,Olov Andersson,Cesar Cadena,Roland Siegwart,Lionel Ott
This paper presents a novel method for using Riemannian Motion Policies on volumetric maps, shown in the example of obstacle avoidance for Micro Aerial Vehicles (MAVs), Today, most robotic obstacle avoidance algorithms rely on sampling or optimization-based planners with volumetric maps. However, they are computationally expensive and often have inflexible monolithic architectures. Riemannian Moti...
