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Vision and Learning for Deliberative Monocular Cluttered Flight
[article]
2014
arXiv
pre-print
Cameras provide a rich source of information while being passive, cheap and lightweight for small and medium Unmanned Aerial Vehicles (UAVs). In this work we present the first implementation of receding horizon control, which is widely used in ground vehicles, with monocular vision as the only sensing mode for autonomous UAV flight in dense clutter. We make it feasible on UAVs via a number of contributions: novel coupling of perception and control via relevant and diverse, multiple
arXiv:1411.6326v1
fatcat:evbbzon54rb4xnatdlhjumpjyy