This project containts the git repository for the IROS submitted paper titled "Enforcing Vision-Based Localization using Perception Constrained N-MPC for Multi-Rotor Aerial Vehicles".
Preprint and video available at https://hal.laas.fr/hal-03597619v1
The repository contains the source code of the controller and the complementary modules (camera, aruco detector...)
The wiki contains all the informations required to install the software locally and run gazebo simulations with the controller.
Project administrator: Martin Jacquet