A planner for constrained flight
Guide a small drone toward a commanded target through a space with obstacles.
Visual description
Accepted for AIAA SciTech in January 2027. The first video is a qualitative 3D illustration, not an output of the research planner. The second is the supplied experiment with all camera and visualization panels retained. Technical details will accompany the publication.
The problem
A direct route to the next target may intersect an obstacle. A useful planner must account for the surrounding space and the vehicle’s motion limits as the mission changes.
My work
This project studies target-to-target flight in a constrained indoor environment using a Crazyflie platform. The schematic shows a path repeatedly recomputed from the current position around obstacles, followed by the complete experimental recording.
About this preview
Accepted for AIAA SciTech in January 2027. The first video is a qualitative 3D illustration, not an output of the research planner. The second is the supplied experiment with all camera and visualization panels retained. Technical details will accompany the publication.