Aerial navigationExpert
DR-IPC: Disturbance-Resilient Integrated Planning and Control for LiDAR-Based Quadrotor Navigation
This preprint presents DR-IPC, a LiDAR-based quadrotor navigation stack that feeds online disturbance estimates into a nonlinear model-predictive controller for joint obstacle-aware motion and control. In Gazebo multi-goal trials with wind and a suspended payload, DR-IPC completes 9 of 10 missions versus 1 of 10 for the prior IPC baseline, and in an indoor archway experiment it reduces altitude RMSE from 0.34 m to 0.01 m. The system runs onboard at 100 Hz, making disturbance-resilient cluttered flight more practical.