RAST: Risk-Aware Spatio-Temporal Safety Corridors for MAV Navigation in Dynamic Uncertain Environments

Autonomous navigation of Micro Aerial Vehicles (MAVs) in dynamic and unknown environments is a complex and challenging task. Current works rely on assumptions to solve the problem. The MAV's pose is precisely known, the dynamic obstacles can be explicitly segmented from static ones, their number is known and fixed, or they can be modeled with...