Motion Primitives-based Path Planning for Fast and Agile Exploration using Aerial Robots

Mihir Dharmadhikari
Mihir Dharmadhikari
Tung Dang
Tung Dang
Lukas Solanka
Lukas Solanka
Johannes Loje
Johannes Loje
Huan Nguyen
Huan Nguyen
Nikhil Khedekar
Nikhil Khedekar

ICRA, pp. 179-185, 2020.

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Abstract:

This paper presents a novel path planning strategy for fast and agile exploration using aerial robots. Tailored to the combined need for large-scale exploration of challenging and confined environments, despite the limited endurance of micro aerial vehicles, the proposed planner employs motion primitives to identify admissible paths that ...More

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