Towards safe and optimal flight: Viability Kernel MPC for Fully Actuated Multirotor
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来源：arXiv cs.RO发布时间待核实
arXiv:2608.25459v1 Announce Type: new Abstract: Industrial aerial robotics demands safety guarantees for navigation in unstructured environments while optimizing performance and computational efficiency. This paper presents a method for generating safe pose trajectories for fully actuated multirotors within a Model Predictive Control (MPC) framework, leveraging both viability theory and data-driven methods.