Post-Stall Navigation with Fixed-Wing UAVs using Onboard Vision
Adam Polevoy,Max Basescu,Luca Scheuer,Joseph Moore,Adam Polevoy,Max Basescu,Luca Scheuer,Joseph Moore
Recent research has enabled fixed-wing unmanned aerial vehicles (UAVs) to maneuver in constrained spaces through the use of direct nonlinear model predictive control (NMPC) [1]. However, this approach has been limited to a priori known maps and ground truth state measurements. In this paper, we present a direct NMPC approach that leverages NanoMap [2], a light-weight point cloud mapping framework,...
