Sparse Tangential Network (SPARTAN): Motion Planning for Micro Aerial Vehicles
Overview
In this project, we plan for a rivermapping robot. We design an efficient 3D visibility graph.
Abstract
UAVs operating outdoors have to move through clutter as well as free space. We have designed an algorithm, SPARTAN, which plans rapidly through free space and is efficiently guided around obstacles by creating a sparsely connected tangential graph across obstacles.