Search
Close this search box.
  • About Us
    • Governance
    • Our Team
    • Labs
    • Open positions
    • Alumni
  • Research
    • Wearable robotics
      • ReGait++
      • Third Arm
    • Rescue Robotics
      • Flying Robots
      • Legged robots
      • Collaboration, Learning and Tests
    • Educational robotics
      • Cellulo
      • Thymio
    • Publications
    • Open Science
  • Education
    • How to get into robotics
      • How our professors got into robotics
      • How our researchers got started
    • Robotics for kids
      • Activities for Kids
      • R2t2 Mars Mission
    • Graduate Programs in Robotics
    • Resources
  • Tech Transfer
    • Researchers expertise
    • Spin-Offs
    • Swiss Robotics Day
    • Swiss Robotics Ecosystem
    • Resources
  • Equal Opportunities
    • Robotics for Girls
    • Master students
    • Young Researchers
    • Building Equality
    • Women in Robotics
    • Resources
  • Awards & Programs
    • Spin-Fund
    • Master Students Exchange Program
    • PhD/Postdoc exchange program
    • Award for Career Development
    • Swiss Robotics Masters Award
    • Award for Scientific Visibility
    • Women keynote speakers
    • Best Paper Award
    • Ukrainian researchers
  • Outreach
    • Swiss Drone Days
    • Cybathlon
    • Swiss Robotics Days
    • Other Outreach Events
  • Contact
Menu
  • About Us
    • Governance
    • Our Team
    • Labs
    • Open positions
    • Alumni
  • Research
    • Wearable robotics
      • ReGait++
      • Third Arm
    • Rescue Robotics
      • Flying Robots
      • Legged robots
      • Collaboration, Learning and Tests
    • Educational robotics
      • Cellulo
      • Thymio
    • Publications
    • Open Science
  • Education
    • How to get into robotics
      • How our professors got into robotics
      • How our researchers got started
    • Robotics for kids
      • Activities for Kids
      • R2t2 Mars Mission
    • Graduate Programs in Robotics
    • Resources
  • Tech Transfer
    • Researchers expertise
    • Spin-Offs
    • Swiss Robotics Day
    • Swiss Robotics Ecosystem
    • Resources
  • Equal Opportunities
    • Robotics for Girls
    • Master students
    • Young Researchers
    • Building Equality
    • Women in Robotics
    • Resources
  • Awards & Programs
    • Spin-Fund
    • Master Students Exchange Program
    • PhD/Postdoc exchange program
    • Award for Career Development
    • Swiss Robotics Masters Award
    • Award for Scientific Visibility
    • Women keynote speakers
    • Best Paper Award
    • Ukrainian researchers
  • Outreach
    • Swiss Drone Days
    • Cybathlon
    • Swiss Robotics Days
    • Other Outreach Events
  • Contact
Search
Close this search box.
  • NCCR Robotics
    • Highlights
    • Governance
    • Our team
    • Labs
    • Past programs
    • Alumni
    • Open positions in robotics
  • Research
    • Wearable Robotics
      • ReGait++
      • Third Arm
    • Rescue Robotics
      • Flying robots
      • Legged robots
      • Collaborations, learning and tests
    • Educational Robotics
      • Cellulo
      • Thymio
    • Publications
    • Open Science
    • Research resources
  • Education
    • How to get into robotics
      • How our professors got into robotics
      • How our researchers got started
    • Robotics for kids
      • Activities for kids
      • R2t2 Mars mission
    • Graduate programs in robotics
    • Resources
  • Tech Transfer
    • Researchers expertise
    • Spin-Offs
    • Swiss Robotics Day
    • Swiss Robotics Ecosystem
    • Resources
  • Equal Opportunities
    • Building equality
    • Women in Robotics
    • Resources
  • Outreach
    • Swiss Robotics Days
    • Swiss Drone Days
    • Cybathlon
    • Photo exhibit
    • Other Outreach Events
Menu
  • NCCR Robotics
    • Highlights
    • Governance
    • Our team
    • Labs
    • Past programs
    • Alumni
    • Open positions in robotics
  • Research
    • Wearable Robotics
      • ReGait++
      • Third Arm
    • Rescue Robotics
      • Flying robots
      • Legged robots
      • Collaborations, learning and tests
    • Educational Robotics
      • Cellulo
      • Thymio
    • Publications
    • Open Science
    • Research resources
  • Education
    • How to get into robotics
      • How our professors got into robotics
      • How our researchers got started
    • Robotics for kids
      • Activities for kids
      • R2t2 Mars mission
    • Graduate programs in robotics
    • Resources
  • Tech Transfer
    • Researchers expertise
    • Spin-Offs
    • Swiss Robotics Day
    • Swiss Robotics Ecosystem
    • Resources
  • Equal Opportunities
    • Building equality
    • Women in Robotics
    • Resources
  • Outreach
    • Swiss Robotics Days
    • Swiss Drone Days
    • Cybathlon
    • Photo exhibit
    • Other Outreach Events

PAMPC: Perception-Aware Model Predictive Control for Quadrotors

Publication date:

Authors:

 

  • Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, 2018

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 leverages numerical optimization to compute trajectories that satisfy the system dynamics and require control inputs within the limits of the platform. Simultaneously, it optimizes perception objectives for robust and reliable sens- ing by maximizing the visibility of a point of interest and minimizing its velocity in the image plane. Considering both perception and action objectives for motion planning and control is challenging due to the possible conflicts arising from their respective requirements. For example, for a quadrotor to track a reference trajectory, it needs to rotate to align its thrust with the direction of the desired acceleration. However, the perception objective might require to minimize such rotation to maximize the visibility of a point of interest. A model-based optimization framework, able to consider both perception and action objectives and couple them through the system dynamics, is therefore necessary. Our perception-aware model predictive control framework works in a receding-horizon fashion by iteratively solving a non-linear optimization problem. It is capable of running in real-time, fully onboard our lightweight, small-scale quadrotor using a low-power ARM computer, to- gether with a visual-inertial odometry pipeline. We validate our approach in experiments demonstrating (I) the contradiction between perception and action objectives, and (II) improved behavior in extremely challenging lighting conditions.

Reference

  • Detailed record: infoscience.epfl.ch/record/256664
  • Date: 2018
Reference
Read the paper
  • Innovation Booster Robotics
  • News
  • Past Events
  • Contact
  • Innovation Booster Robotics
  • News
  • Past Events
  • Contact
  • Journalists and media
  • News bulletin archive
  • Newsletter archive
  • Journalists and media
  • News bulletin archive
  • Newsletter archive
Twitter Linkedin Youtube
NCCR Robotics partner institutions

Leading house

epfl_white

Co-Leading house

eth_white
unizuerich_white
idsia_white
unibe_all_white
empa-all-white
unibasel_white

This website was built by NCCR Robotics and provides useful information on Swiss Robotics. From December 2022, it is no longer updated.

Copyright © 2022 NCCR Robotics. All rights reserved.