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A Perception-Aware Flatness-based MPC for Fast Vision-based Flight
Автор: Learning Systems and Robotics Lab
Загружено: 2020-07-17
Просмотров: 410
Описание:
IFAC 2020 Talk
Most vision-based navigation systems rely on perception-agnostic controllers whose actions can result in vision-based localisation failure. We develop a perception-aware model predictive control (MPC) to achieve optimal fast flight while ensuring reliable vision-based navigation. Our approach relies on a data-driven perception model obtained using over 12 km of flight data. In real-time, our approach adapts the optimal flight path based on camera orientation, path error and location of visual landmarks.
Researchers: M. Greeff, T.D. Barfoot, A.P. Schoellig
Paper: https://www.dynsyslab.org/wp-content/...
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