A smooth exponential obstacle cost with reduction factor in nonlinear MPC allows morphing quadrotors to traverse narrow gaps under limited 2D LiDAR perception.
Online quadrotor trajectory generation and autonomous navigation on point clouds,
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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.