Towards safe and optimal flight: Viability Kernel MPC for Fully Actuated Multirotor

Abstract:Industrial aerial robotics demands safety guarantees for navigation in unstructured environments while optimizing performance and computational efficiency. This paper presents a method for generating safe pose trajectories for fully actuated multirotors within a Model Predictive Control (MPC) framework, leveraging both viability theory and data-driven methods. Obstacle avoidance is enforced through dynamically computed axis-aligned bounding boxes, providing formal safety guarantees without exhaustive offline reachability analysis. Numerical simulations on a fully actuated tilted hexarotor validate the approach, demonstrating successful navigation in cluttered environments with real-time computational performance.

Robotics (cs.RO); Systems and Control (eess.SY)

arXiv:2608.25459 [cs.RO]

(or arXiv:2608.25459v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2608.25459 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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