BC-NMPC: Battery-Constrained NMPC with Propulsion Prediction and Replanning for High-Speed Flight

Parakh M. Gupta, Matej Mihulka, Matej Novosad +2

Trajectory tracking performance of Uncrewed Aerial Vehicles (UAVs) degrades during high-speed and agile flight due to the depletion of the battery and subsequent loss of maximum av…