FU-MPC is a receding-horizon MPC controller that treats motorized LiDAR rotation as an explicit variable to jointly maximize frontier exploration utility and minimize direction-dependent localization uncertainty during UAV flight.
Unmanned aerial vehicle navigation in underground structure inspection: A review,
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FU-MPC: Frontier- and Uncertainty-Aware Model Predictive Control for Efficient and Accurate UAV Exploration with Motorized LiDAR
FU-MPC is a receding-horizon MPC controller that treats motorized LiDAR rotation as an explicit variable to jointly maximize frontier exploration utility and minimize direction-dependent localization uncertainty during UAV flight.