Robust, Perception Based Control with Quadrotors
Laura Jarin-Lipschitz,Rebecca Li,Ty Nguyen,Vijay Kumar,Nikolai Matni,Laura Jarin-Lipschitz,Rebecca Li,Ty Nguyen,Vijay Kumar,Nikolai Matni
Traditionally, controllers and state estimators in robotic systems are designed independently. Controllers are often designed assuming perfect state estimation. However, state estimation methods such as Visual Inertial Odometry (VIO) drift over time and can cause the system to misbehave. While state estimation error can be corrected with the aid of GPS or motion capture, these complementary sensor...
