Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Real-time Quadrotor Navigation Through Planning in Depth Space in
  Unstructured Environments   This paper addresses the problem of real-time vision-based autonomous
obstacle avoidance in unstructured environments for quadrotor UAVs. We assume
that our UAV is equipped with a forward facing stereo camera as the only sensor
to perceive the world around it. Moreover, all the computations are performed
onboard. Feasible trajectory generation in this kind of problems requires rapid
collision checks along with efficient planning algorithms. We propose a
trajectory generation approach in the depth image space, which refers to the
environment information as depicted by the depth images. In order to predict
the collision in a look ahead robot trajectory, we create depth images from the
sequence of robot poses along the path. We compare these images with the depth
images of the actual world sensed through the forward facing stereo camera. We
aim at generating fuel optimal trajectories inside the depth image space. In
case of a predicted collision, a switching strategy is used to aggressively
deviate the quadrotor away from the obstacle. For this purpose we use two
closed loop motion primitives based on Linear Quadratic Regulator (LQR)
objective functions. The proposed approach is validated through simulation and
hardware experiments.

15
The categories of this paper are: nucl-ex
13
The categories of this paper are: quant-ph
11
The categories of this paper are: hep-lat
18
The categories of this paper are: econ
28
The categories of this paper are: alg-geom
17
The categories of this paper are: q-fin
8
The categories of this paper are: hep-ex
9
The categories of this paper are: nlin
4
The categories of this paper are: cond-mat
6
The categories of this paper are: astro-ph
12
The categories of this paper are: nucl-th
0
The categories of this paper are: hep-ph
26
The categories of this paper are: bayes-an
31
The categories of this paper are: ao-sci
3
The categories of this paper are: physics
29
The categories of this paper are: funct-an