Safe Local Exploration for Replanning in Cluttered Unknown Environments for Micro-Aerial Vehicles

2 Oct 2017Helen OleynikovaZachary TaylorRoland SiegwartJuan Nieto

In order to enable Micro-Aerial Vehicles (MAVs) to assist in complex, unknown, unstructured environments, they must be able to navigate with guaranteed safety, even when faced with a cluttered environment they have no prior knowledge of. While trajectory optimization-based local planners have been shown to perform well in these cases, prior work either does not address how to deal with local minima in the optimization problem, or solves it by using an optimistic global planner... (read more)

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