Publication: Computing the Forward Reachable Set for a Multirotor Under First-Order Aerodynamic Effects
Computing the Forward Reachable Set for a Multirotor Under First-Order Aerodynamic Effects
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Kim, S., Falanga, D., & Scaramuzza, D. (2019). Computing the Forward Reachable Set for a Multirotor Under First-Order Aerodynamic Effects. IEEE Robotics and Automation Letters, 3(4), 2934–2941. https://doi.org/10.1109/lra.2018.2848302
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Collision avoidance plays a crucial role in safe multirotor flight in cluttered environments. Even though a given reference trajectory is designed to be collision free, it might lead to collision due to imperfect tracking caused by external disturbances. In this work, we tackle this problem by computing the Forward Reachable Set (FRS), which is the set of positions and velocities that a multirotor can reach while following a reference trajectory due to tracking errors. Hence, if the FRS is computed before flight, we can utilize it to
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- Kim, Suseong
- Falanga, Davide
- Scaramuzza, Davide
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Kim, S., Falanga, D., & Scaramuzza, D. (2019). Computing the Forward Reachable Set for a Multirotor Under First-Order Aerodynamic Effects. IEEE Robotics and Automation Letters, 3(4), 2934–2941. https://doi.org/10.1109/lra.2018.2848302
