Research paper
Chance-constrained avoidance · MAVs sharing space with people
Chance-constrained NMPC approximates collision probability under localization, sensing and motion uncertainty. Evaluation uses two quadrotors with two people and simulated coordination with up to 16 vehicles.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- Chance-Constrained Collision Avoidance for MAVs in Dynamic Environments
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Authors
- Hai Zhu, Javier Alonso-Mora
- DOI
- 10.1109/lra.2019.2893494
- First online publication
- 2019-01-16
- Source language
- en
- Edition
- IEEE Robotics and Automation Letters; 2019-04; DOI 10.1109/lra.2019.2893494
- Access
- Publisher metadata and open author manuscript
- Publication status
- Published
Related resources and engineering notes
Source overview
Chance-constrained NMPC approximates collision probability under localization, sensing and motion uncertainty. Evaluation uses two quadrotors with two people and simulated coordination with up to 16 vehicles.
Use and review
Final-publication abstract and bibliography checked. Gaussian uncertainty, prediction assumptions and probability thresholds require independent validation.
Sources & editions
Chance-Constrained Collision Avoidance for MAVs in Dynamic Environments ↗
Institute of Electrical and Electronics Engineers (IEEE) · IEEE Robotics and Automation Letters; 2019-04; DOI 10.1109/lra.2019.2893494
IEEE RA-L final copy and abstract https://repository.tudelft.nl/record/uuid%3A4c2e8664-4eb7-45ff-9e7e-a57ae643a371; first publication2019-01-16.