Visibility-Constrained Control of Multirotor via Reference Governor

For safe vision-based control applications, perception-related constraints have to be satisfied in addition to other state constraints. In this paper, we deal with the problem where a multirotor equipped with a camera needs to maintain the visibility of a point of interest while tracking a reference given by a high-level planner. We devise a method based on reference governor that, differently from existing solutions, is able to enforce control-level visibility constraints with theoretically assured feasibility. To this end, we design a new type of reference governor for linear systems with polynomial constraints which is capable of handling time-varying references. The proposed solution is implemented online for the real-time multirotor control with visibility constraints and validated with simulations and an actual hardware experiment.

Bibtex

@inproceedings{kim2023visibility,
  title={Visibility-constrained control of multirotor via reference governor},
  author={Kim, Dabin and Pezzutto, Matthias and Schenato, Luca and Kim, H Jin},
  booktitle={2023 62nd IEEE Conference on Decision and Control (CDC)},
  pages={5714--5721},
  year={2023},
  organization={IEEE}
}