PAMPC: Perception-Aware Model Predictive Control for Quadrotors

04/13/2018
by   Davide Falanga, et al.
0

We present a perception-aware model predictive control framework for quadrotors that unifies control and planning with respect to action and perception objectives. Our framework leverages numerical optimization to compute trajectories that satisfy the system dynamics and require control inputs within the limits of the platform. Simultaneously, it optimizes perception objectives for robust and reliable sens- ing by maximizing the visibility of a point of interest and minimizing its velocity in the image plane. Considering both perception and action objectives for motion planning and control is challenging due to the possible conflicts arising from their respective requirements. For example, for a quadrotor to track a reference trajectory, it needs to rotate to align its thrust with the direction of the desired acceleration. However, the perception objective might require to minimize such rotation to maximize the visibility of a point of interest. A model-based optimization framework, able to consider both perception and action objectives and couple them through the system dynamics, is therefore necessary. Our perception-aware model predictive control framework works in a receding-horizon fashion by iteratively solving a non-linear optimization problem. It is capable of running in real-time, fully onboard our lightweight, small-scale quadrotor using a low-power ARM computer, to- gether with a visual-inertial odometry pipeline. We validate our approach in experiments demonstrating (I) the contradiction between perception and action objectives, and (II) improved behavior in extremely challenging lighting conditions.

READ FULL TEXT

page 1

page 5

page 6

page 7

research
07/22/2021

PCMPC: Perception-Constrained Model Predictive Control for Quadrotors with Suspended Loads using a Single Camera and IMU

In this paper, we address the Perception–Constrained Model Predictive Co...
research
09/22/2021

PCVPC: Perception Constrained Visual Predictive Control For Agile Quadrotors

We present a perception constrained visual predictive control (PCVPC) al...
research
03/14/2022

COP: Control Observability-aware Planning

In this research, we aim to answer the question: How to combine Closed-L...
research
10/04/2021

AquaVis: A Perception-Aware Autonomous Navigation Framework for Underwater Vehicles

Visual monitoring operations underwater require both observing the objec...
research
05/28/2020

Perception-aware time optimal path parameterization for quadrotors

The increasing popularity of quadrotors has given rise to a class of pre...
research
01/30/2021

Enacted Visual Perception: A Computational Model based on Piaget Equilibrium

In Maurice Merleau-Ponty's phenomenology of perception, analysis of perc...
research
09/03/2020

Action and Perception as Divergence Minimization

We introduce a unified objective for action and perception of intelligen...

Please sign up or login with your details

Forgot password? Click here to reset