Towards safe and optimal flight: Viability Kernel MPC for Fully Actuated Multirotor
Massimiliano Bertoni, Alberto Piccina, Gianni Lunardi, Elias Fontanari, Andrea Del Prete, Angelo Cenedese, Giulia Michieletto
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.
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