1. Visibility-Constrained Control of Multirotor via Reference Governor
- Author
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Kim, Dabin, Pezzutto, Matthias, Schenato, Luca, and Kim, H. Jin
- Subjects
Computer Science - Robotics - Abstract
For safe vision-based control applications, perception-related constraints have to be satisfied in addition to other state constraints. In this paper, we deal with the problem where a multirotor equipped with a camera needs to maintain the visibility of a point of interest while tracking a reference given by a high-level planner. We devise a method based on reference governor that, differently from existing solutions, is able to enforce control-level visibility constraints with theoretically assured feasibility. To this end, we design a new type of reference governor for linear systems with polynomial constraints which is capable of handling time-varying references. The proposed solution is implemented online for the real-time multirotor control with visibility constraints and validated with simulations and an actual hardware experiment., Comment: 8 pages, 6 figures, Accepted to 62nd IEEE Conference on Decision and Control (CDC 2023)
- Published
- 2023