AerospaceControlsLab's video: Aggressive Collision Avoidance with Limited Field-of-View Sensing

In this video we present the Relaxed-constraint Triple Integrator Planner (R-TIP) which enables safe execution of high-acceleration motion primitives while planning with instantaneous perception data. The key component of the R-TIP algorithm is its ability to choose a safe motion primitive generated in the past (when the perception system was still producing useful information). Remembering past decisions enables the planner to make smarter decisions given the current information provided by the perception system. More informed decisions and large acceleration maneuvers enhances collision avoidance to the level needed for high-speed flight. In addition, more efficient flight paths are achieved since the best primitive over a sequence of replans is executed, as opposed to the instantaneous best primitive. Simulation and hardware experiments demonstrate the utility of the algorithm. IROS '17 video submission.