Mesh Manifold Based Riemannian Motion Planning for Omnidirectional Micro Aerial Vehicles

@article{Pantic2021MeshMB,
  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},
  year={2021},
  volume={6},
  pages={4790-4797}
}
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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