Publication: PAMPC: Perception-Aware Model Predictive Control for Quadrotors
PAMPC: Perception-Aware Model Predictive Control for Quadrotors
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Falanga, D., Foehn, P., Lu, P., & Scaramuzza, D. (2018). PAMPC: Perception-Aware Model Predictive Control for Quadrotors. 1–8. https://doi.org/10.1109/iros.2018.8593739
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We present the first perception-aware model predictive control framework for quadrotors that unifies control and planning with respect to action and perception objectives. Our framework leverages numerical optimization to compute trajectories that satisfy the system dynamics and require control inputs within the limits of the platform. Simultaneously, it optimizes perception objectives for robust and reliable sensing by maximizing the visibility of a point of interest and minimizing its velocity in the image plane. Considering both pe
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Falanga, D., Foehn, P., Lu, P., & Scaramuzza, D. (2018). PAMPC: Perception-Aware Model Predictive Control for Quadrotors. 1–8. https://doi.org/10.1109/iros.2018.8593739
