Online Trajectory Planning and Control of a MAV Payload System in Dynamic Environments: A Non-Linear Model Predictive Control Approach

Micro Aerial Vehicles (MAVs) are increasingly being used for aerial transportation in remote and urban spaces where portability can be exploited to reach previously inaccessible and inhospitable spaces. Current approaches to MAV swung payload system path planning have primarily focused on pre-generating (agile) collision-free, or conservative...