PANTHER: Perception-Aware Trajectory Planner in Dynamic Environments

Understand

This paper presents PANTHER, a real-time perception-aware (PA) trajectory planner for multirotor-UAVs (Unmanned Aerial Vehicles) in dynamic environments.

• PANTHER plans trajectories that avoid dynamic obstacles while also keeping them in the sensor field of view (FOV) and minimizing the blur to aid in object tracking.
• The rotation and translation of the UAV are jointly optimized, which allows PANTHER to fully exploit the differential flatness of multirotors to maximize the PA objective.
• Real-time performance is achieved by implicitly imposing the underactuated dynamics of the UAV through the Hopf fibration.