PCMPC: Perception-Constrained Model Predictive Control for Quadrotors with Suspended Loads using a Single Camera and IMU
Guanrui Li Alex Tunchez Giuseppe Loianno Guanrui Li Alex Tunchez Giuseppe Loianno
In this paper, we address the Perception– Constrained Model Predictive Control (PCMPC) and state estimation problems for quadrotors with cable suspended payloads using a single camera and Inertial Measurement Unit (IMU). We design a receding–horizon control strategy for cable suspended payloads directly formulated on the system manifold configuration space SE (3) ×S2. The approach considers the sy...