Search-based 3D Planning and Trajectory Optimization for Safe Micro Aerial Vehicle Flight Under Sensor Visibility Constraints

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

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They present a combined allocentric complete planning and trajectory optimization approach taking sensor visibility constraints into account.