Reactive Avoidance of Obstacles by a Quadrotor using 3D Collision Cones in Multiple Settings

This paper focuses on performing an experimental validation of reactive collision avoidance, using the collision cone approach. The experiments are conducted in different environment settings, in which the position and velocity estimates of the obstacles are obtained from a Vicon System, an RTK GPS system, and an on-board camera, respectively. The presence of multiple dynamic obstacles in the environment is considered. Experimental results obtained in each of these settings are presented.