A smooth exponential obstacle cost with reduction factor in nonlinear MPC allows morphing quadrotors to traverse narrow gaps under limited 2D LiDAR perception.
Motion planning and control of a morphing quadrotor in restricted scenarios,
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Constrained MPC-Based Motion Planning for Morphing Quadrotors in Ultra-Narrow Passages under Limited Perception
A smooth exponential obstacle cost with reduction factor in nonlinear MPC allows morphing quadrotors to traverse narrow gaps under limited 2D LiDAR perception.