[R] Finalist for Best Paper Award ICRA 2019
The problem being tackled: Safe navigation of Micro Aerial Vehicles (MAVs) requires not only obstacle-free flight paths according to a static environment map, but also the perception of and reaction to previously unknown and dynamic objects. This implies that the onboard sensors cover the current flight direction. Due to the limited payload of MAVs, full sensor coverage of the environment has to be traded off with flight time. Thus, often only a part of the environment is covered
They present a combined allocentric complete planning and trajectory optimization approach taking sensor visibility constraints into account.