Research paper
Uncertainty margins for adaptive quadrotor avoidance
Adaptive nonlinear MPC propagates parameter and initial-state uncertainty as pose ellipsoids to set obstacle margins. The author manuscript reports outdoor quadrotor flights around virtual obstacles under external disturbance.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- Robust obstacle avoidance for aerial platforms using adaptive model predictive control
- Publisher
- IEEE
- Authors
- Gowtham Garimella, Matthew Sheckells, Marin Kobilarov
- DOI
- 10.1109/icra.2017.7989692
- Conference date
- 2017-05
- Source language
- en
- Source country
- US
- Edition
- 2017 IEEE International Conference on Robotics and Automation (ICRA)
- Access
- Public bibliography and abstract
- Publication status
- Published
Source overview
Adaptive nonlinear MPC propagates parameter and initial-state uncertainty as pose ellipsoids to set obstacle margins. The author manuscript reports outdoor quadrotor flights around virtual obstacles under external disturbance.
Use and review
Outdoor flight experiments used virtual obstacles. The manuscript states that obstacle-detection uncertainty is not included; this is not physical-obstacle avoidance validation under arbitrary perception error.
Sources & editions
Robust obstacle avoidance for aerial platforms using adaptive model predictive control ↗
IEEE · 2017 IEEE International Conference on Robotics and Automation (ICRA)
Primary author-lab first-page abstract and introduction checked via webPDF extraction; direct request403. Introduction explicitly excludes obstacle-detection uncertainty. Full method not audited.