Real-Time Multi-Convex Model Predictive Control for Occlusion-Free Target Tracking With Quadrotors

This paper proposes a Model Predictive Control (MPC) algorithm for target tracking amongst static and dynamic obstacles. Our main contribution lies in improving the computational tractability and reliability of the underlying non-convex trajectory optimization. The result is an MPC algorithm that ru...

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Bibliografske podrobnosti

Principais autores:	Houman Masnavi, Vivek Kantilal Adajania, Karl Kruusamae, Arun Kumar Singh
Format:	Artigo
Jezik:	Inglês
Izdano:	IEEE 2022-01-01
Serija:	IEEE Access
Teme:	Quadrotors target-tracking occlusion collision avoidance dynamic obstacles
Online dostop:	https://ieeexplore.ieee.org/document/9730863/
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