Wencan Lu

SLOT-MPC: A Hierarchical Whole-Body Model Predictive Controller to Enhance Simultaneous Localization and Object Tracking for UAVs

SLOT-MPC: A Hierarchical Whole-Body Model Predictive Controller to Enhance Simultaneous Localization and Object Tracking for UAVs

This paper proposes <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">SLOT-MPC</i>, a hierarchical model predictive control framework for a system of multirotor Unmmaned Aerial Vehicle (UAV), which aims to minimize uncertainty in estimating both ego-mo