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

arXiv · AI, language, vision and robotics · article · Aug 26, 2026 · UTC

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 vali

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