Safe and Fuel-Efficient Motion Planning for Lunar Propulsive Drones
This work presents an autonomous motion planning framework for propulsive drones to safely and fuel-efficiently hop between waypoints on the Moon. The system plans parabolic hops, uses a vision-guided strategy to identify safe landing spots by detecting obstacles via semantic segmentation, and employs Model Predictive Control (MPC) to robustly track the planned trajectories in real-time simulations.