Mesh Manifold Based Riemannian Motion Planning for Omnidirectional Micro Aerial Vehicles

  title={Mesh Manifold Based Riemannian Motion Planning for Omnidirectional Micro Aerial Vehicles},
  author={Michael Pantic and Lionel Ott and C{\'e}sar Cadena and Roland Y. Siegwart and Juan I. Nieto},
  journal={IEEE Robotics and Automation Letters},
This letter presents a novel on-line path planning method that enables aerial robots to interact with surfaces. We present a solution to the problem of finding trajectories that drive a robot towards a surface and move along it. Triangular meshes are used as a surface map representation that is free of fixed discretization and allows for very large workspaces. We propose to leverage planar parametrization methods to obtain a lower-dimensional topologically equivalent representation of the… Expand

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RRT-connect: An efficient approach to single-query path planning
  • J. Kuffner, S. LaValle
  • Computer Science
  • Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)
  • 2000
A simple and efficient randomized algorithm is presented for solving single-query path planning problems in high-dimensional configuration spaces. The method works by incrementally building twoExpand