The ESKF-PRE-VMPC framework couples quadrotor dynamics with image-feature prediction and disturbance estimation to enable autonomous near-proximity pipeline inspection that outperforms baselines in straight, windy, and bent-pipe scenarios.
Robust nonlinear model predictive control based visual servoing of quadrotor uavs
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Autonomous UAV Pipeline Near-proximity Inspection via Disturbance-Aware Predictive Visual Servoing
The ESKF-PRE-VMPC framework couples quadrotor dynamics with image-feature prediction and disturbance estimation to enable autonomous near-proximity pipeline inspection that outperforms baselines in straight, windy, and bent-pipe scenarios.