Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: External Forces Resilient Safe Motion Planning for Quadrotor   Adaptive autonomous navigation with no prior knowledge of extraneous
disturbance is of great significance for quadrotors in a complex and unknown
environment. The mainstream that considers external disturbance is to implement
disturbance-rejected control and path tracking. However, the robust control to
compensate for tracking deviations is not well-considered regarding energy
consumption, and even the reference path will become risky and intractable with
disturbance. As recent external forces estimation advances, it is possible to
incorporate a real-time force estimator to develop more robust and safe
planning frameworks. This paper proposes a systematic (re)planning framework
that can resiliently generate safe trajectories under volatile conditions.
Firstly, a front-end kinodynamic path is searched with force-biased motion
primitives. Then we develop a nonlinear model predictive control (NMPC) as a
local planner with Hamilton-Jacobi (HJ) forward reachability analysis for error
dynamics caused by external forces. It guarantees collision avoidance by
constraining the ellipsoid of the quadrotor body expanded with the forward
reachable sets (FRSs) within safe convex polytopes. Our method is validated in
simulations and real-world experiments with different sources of external
forces.

19
The categories of this paper are: eess
20
The categories of this paper are: acc-phys
9
The categories of this paper are: nlin
30
The categories of this paper are: q-alg
15
The categories of this paper are: nucl-ex
3
The categories of this paper are: physics
5
The categories of this paper are: gr-qc
35
The categories of this paper are: mtrl-th
12
The categories of this paper are: nucl-th
28
The categories of this paper are: alg-geom
36
The categories of this paper are: cmp-lg
8
The categories of this paper are: hep-ex
0
The categories of this paper are: hep-ph
27
The categories of this paper are: comp-gas
31
The categories of this paper are: ao-sci
24
The categories of this paper are: dg-ga