Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: A Unified NMPC Scheme for MAVs Navigation with 3D Collision Avoidance
  under Position Uncertainty   This article proposes a novel Nonlinear Model Predictive Control (NMPC)
framework for Micro Aerial Vehicle (MAV) autonomous navigation in constrained
environments. The introduced framework allows us to consider the nonlinear
dynamics of MAVs and guarantees real-time performance. Our first contribution
is to design a computationally efficient subspace clustering method to reveal
from geometrical constraints to underlying constraint planes within a 3D point
cloud, obtained from a 3D lidar scanner. The second contribution of our work is
to incorporate the extracted information into the nonlinear constraints of NMPC
for avoiding collisions. Our third contribution focuses on making the
controller robust by considering the uncertainty of localization and NMPC using
the Shannon entropy. This step enables us to track either the position or
velocity references, or none of them if necessary. As a result, the collision
avoidance constraints are defined in the local coordinates of MAVs and it
remains active and guarantees collision avoidance, despite localization
uncertainties, e.g., position estimation drifts. Additionally, as the platform
continues the mission, this will result in less uncertain position estimations,
due to the feature extraction and loop closure. The efficacy of the suggested
framework has been evaluated using various simulations in the Gazebo
environment.

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The categories of this paper are: stat
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The categories of this paper are: dg-ga
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The categories of this paper are: nucl-th
32
The categories of this paper are: atom-ph
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The categories of this paper are: funct-an
18
The categories of this paper are: econ
34
The categories of this paper are: chem-ph
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The categories of this paper are: q-fin
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The categories of this paper are: nlin
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The categories of this paper are: quant-ph
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The categories of this paper are: hep-th
36
The categories of this paper are: cmp-lg
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The categories of this paper are: physics
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The categories of this paper are: ao-sci
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The categories of this paper are: nucl-ex
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The categories of this paper are: hep-lat