Perception-aware time optimal path parameterization for quadrotors
© 2020 IEEE. The increasing popularity of quadrotors has given rise to a class of predominantly vision-driven vehicles. This paper addresses the problem of perception-aware time optimal path parametrization for quadrotors. Although many different choices of perceptual modalities are available, the l...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
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IEEE
2021
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| Online Access: | https://hdl.handle.net/1721.1/136988.2 |
| _version_ | 1811097318649233408 |
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| author | Spasojevic, Igor Murali, Varun Karaman, Sertac |
| author2 | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics |
| author_facet | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Spasojevic, Igor Murali, Varun Karaman, Sertac |
| author_sort | Spasojevic, Igor |
| collection | MIT |
| description | © 2020 IEEE. The increasing popularity of quadrotors has given rise to a class of predominantly vision-driven vehicles. This paper addresses the problem of perception-aware time optimal path parametrization for quadrotors. Although many different choices of perceptual modalities are available, the low weight and power budgets of quadrotor systems makes a camera ideal for on-board navigation and estimation algorithms. However, this does come with a set of challenges. The limited field of view of the camera can restrict the visibility of salient regions in the environment, which dictates the necessity to consider perception and planning jointly. The main contribution of this paper is an efficient time optimal path parametrization algorithm for quadrotors with limited field of view constraints. We show in a simulation study that a state-of-the-art controller can track planned trajectories, and we validate the proposed algorithm on a quadrotor platform in experiments. |
| first_indexed | 2024-09-23T16:57:44Z |
| format | Article |
| id | mit-1721.1/136988.2 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T16:57:44Z |
| publishDate | 2021 |
| publisher | IEEE |
| record_format | dspace |
| spelling | mit-1721.1/136988.22021-12-14T16:27:38Z Perception-aware time optimal path parameterization for quadrotors Spasojevic, Igor Murali, Varun Karaman, Sertac Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Massachusetts Institute of Technology. Laboratory for Information and Decision Systems © 2020 IEEE. The increasing popularity of quadrotors has given rise to a class of predominantly vision-driven vehicles. This paper addresses the problem of perception-aware time optimal path parametrization for quadrotors. Although many different choices of perceptual modalities are available, the low weight and power budgets of quadrotor systems makes a camera ideal for on-board navigation and estimation algorithms. However, this does come with a set of challenges. The limited field of view of the camera can restrict the visibility of salient regions in the environment, which dictates the necessity to consider perception and planning jointly. The main contribution of this paper is an efficient time optimal path parametrization algorithm for quadrotors with limited field of view constraints. We show in a simulation study that a state-of-the-art controller can track planned trajectories, and we validate the proposed algorithm on a quadrotor platform in experiments. 2021-12-14T16:27:37Z 2021-11-01T17:04:42Z 2021-12-14T16:27:37Z 2020-05 2021-04-30T17:51:52Z Article http://purl.org/eprint/type/ConferencePaper https://hdl.handle.net/1721.1/136988.2 Spasojevic, Igor, Murali, Varun and Karaman, Sertac. 2020. "Perception-aware time optimal path parameterization for quadrotors." Proceedings - IEEE International Conference on Robotics and Automation. en 10.1109/icra40945.2020.9197157 Proceedings - IEEE International Conference on Robotics and Automation Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/octet-stream IEEE arXiv |
| spellingShingle | Spasojevic, Igor Murali, Varun Karaman, Sertac Perception-aware time optimal path parameterization for quadrotors |
| title | Perception-aware time optimal path parameterization for quadrotors |
| title_full | Perception-aware time optimal path parameterization for quadrotors |
| title_fullStr | Perception-aware time optimal path parameterization for quadrotors |
| title_full_unstemmed | Perception-aware time optimal path parameterization for quadrotors |
| title_short | Perception-aware time optimal path parameterization for quadrotors |
| title_sort | perception aware time optimal path parameterization for quadrotors |
| url | https://hdl.handle.net/1721.1/136988.2 |
| work_keys_str_mv | AT spasojevicigor perceptionawaretimeoptimalpathparameterizationforquadrotors AT muralivarun perceptionawaretimeoptimalpathparameterizationforquadrotors AT karamansertac perceptionawaretimeoptimalpathparameterizationforquadrotors |