3 accepted papers
This letter focuses on finding robust paths for a robotic system by taking into account the state uncertainty and the probability of collision. We are interested in dealing with intermittent exteroceptive measurements (e.g., collected from vision). We assume that these cues provide reliable measurem
In this letter, we investigate the online generation of optimal trajectories for target tracking with a quadrotor while satisfying a set of image-based and actuation constraints. We consider a quadrotor equipped with a camera (either down or front-looking) with limited field of view. The aim is to f
In this paper, we address the problem of using a camera with limited field of view for controlling the motion of a quadrotor in aggressive flight regimes. We present a minimum time trajectory planning method that guarantees visibility of the image features while allowing the robot to undertake aggre…