Perception-aware time optimal path parameterization for quadrotors
Name
2005.13986.pdf
Description
Accepted version
Size
5.79 MB
Format
Unknown
Checksum (MD5)
43f85fd0137e9eb438798cbdfe4ddc60
Author(s)
Spasojevic, Igor
Murali, Varun
Karaman, Sertac
Date Issued
May 2020
Journal
Proceedings - IEEE International Conference on Robotics and Automation
Publisher
IEEE
Citation
Spasojevic, Igor, Murali, Varun and Karaman, Sertac. 2020. "Perception-aware time optimal path parameterization for quadrotors." Proceedings - IEEE International Conference on Robotics and Automation.
Version
Author's final manuscript
Abstract
© 2020 IEEE. The increasing popularity of quadrotors has given rise to a class of predominantly vision-driven vehicles. This paper addresses the problem of perception-aware time optimal path parametrization for quadrotors. Although many different choices of perceptual modalities are available, the low weight and power budgets of quadrotor systems makes a camera ideal for on-board navigation and estimation algorithms. However, this does come with a set of challenges. The limited field of view of the camera can restrict the visibility of salient regions in the environment, which dictates the necessity to consider perception and planning jointly. The main contribution of this paper is an efficient time optimal path parametrization algorithm for quadrotors with limited field of view constraints. We show in a simulation study that a state-of-the-art controller can track planned trajectories, and we validate the proposed algorithm on a quadrotor platform in experiments.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Massachusetts Institute of Technology. Laboratory for Information and Decision Systems
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/icra40945.2020.9197157
