Towards safe and optimal flight: Viability Kernel MPC for Fully Actuated Multirotor

• URL: http://arxiv.org/abs/2608.25459v1
• Date: Wed, 26 Aug 2026 07:26:11 GMT
• Title: Towards safe and optimal flight: Viability Kernel MPC for Fully Actuated Multirotor
• Abstract summary: This paper presents a method for generating safe pose trajectories for fully actuated multirotors within a Model Predictive Control framework.<n>Obstacle avoidance is enforced through computed axis-aligned bounding boxes, providing formal safety guarantees without exhaustive offline reachability analysis.<n> Numerical simulations on a fully actuated tilted hexarotor validate the approach, demonstrating successful navigation in cluttered environments with real-time computational performance.
• Score: 2.8914742944205862
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Industrial aerial robotics demands safety guarantees for navigation in unstructured environments while optimizing performance and computational efficiency. This paper presents a method for generating safe pose trajectories for fully actuated multirotors within a Model Predictive Control (MPC) framework, leveraging both viability theory and data-driven methods. Obstacle avoidance is enforced through dynamically computed axis-aligned bounding boxes, providing formal safety guarantees without exhaustive offline reachability analysis. Numerical simulations on a fully actuated tilted hexarotor validate the approach, demonstrating successful navigation in cluttered environments with real-time computational performance.

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