Online Trajectory Generation of a MAV for Chasing a Moving Target in 3D Dense Environments This work deals with a moving target chasing mission of an aerial vehicle equipped with a vision sensor in a cluttered environment. In contrast to obstaclefree or sparse environments, the chaser should be able to handle collision and occlusion together with flight efficiency. In order to tackle these challenges in realtime, we introduce a metric for target visibility and propose a hierarchical chasing planner. In the first phase, we generate a sequence of waypoints and chasing corridors which ensure safety and optimize visibility. In the following phase, the corridors and waypoints are utilized as constraints and objective respectively in quadratic programming from which we complete a dynamically feasible trajectory for chasing. The proposed algorithm is tested in multiple dense environments. The simulator AutoChaser with full code implementation u0026 GUI can be found in https:github.comicslJeontraj_gen_vis and video is available at https:youtu.be2d3uDlYR_M.

Fast Timeoptimal Avoidance of Moving Obstacles for HighSpeed MAV Flight In this work, we propose a method to efficiently compute smooth, timeoptimal trajectories for micro aerial vehicles (MAVs) evading a moving obstacle. Our approach first computes an ndimensional trajectory from the start to an arbitrary target state including position, velocity and acceleration. It respects input and stateconstraints and is thus dynamically feasible. The trajectory is then efficiently checked for collisions, exploiting the piecewise polynomial formulation. If collisions occur, viastates are inserted into the trajectory to circumvent the obstacle and still maintain timeoptimality. These viastates are described by position, velocity, and acceleration. The evaluation shows that the computational demands of the proposed method are minimal such that obstacle avoidance can begin within few milliseconds. Optimality of generated trajectories, combined with the ability for frequent online replanning from nonhover initial conditions, make the approach well suited for evasion of suddenly perceived obstacles during fast flight.