We present the first perception-aware model predictive control framework for quadrotors that
unifies control and planning with respect to action and perception objectives. Our framework …

Unmanned Aerial Vehicles have undergone rapid developments in recent decades. This
has made them very popular for various military and civilian applications allowing us to …

In this letter, we investigate the online generation of optimal trajectories for target tracking
with a quadrotor while satisfying a set of image-based and actuation constraints. We …

This paper presents PANTHER, a real-time perception-aware (PA) trajectory planner for
multirotor-UAVs (Unmanned Aerial Vehicles) in dynamic environments. PANTHER plans …

Recent advances in visual-inertial state estimation have allowed quadrotor aircraft to
autonomously navigate in unknown environments at operational speeds. In most cases …

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 …

In this paper, we address the problem of using a camera with limited field of view for
controlling the motion of a quadrotor in aggressive flight regimes. We present a minimum …

Motion planning for autonomous active perception in cluttered environments remains a
challenging problem, requiring real-time solutions that both maximize safety and achieve a …

Various perception-aware planning approaches have attempted to enhance the state
estimation accuracy during maneuvers, while the feature matchability among frames, a …

Visual monitoring operations underwater require both observing the objects of interest in
close-proximity, and tracking the few feature-rich areas necessary for state estimation. This …