RVC-NMPC: Nonlinear Model Predictive Control with Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight
This work introduces a novel method for agile UAV collision avoidance by combining Nonlinear Model Predictive Control (NMPC) with time-dependent Reciprocal Velocity Constraints (RVCs). It achieves high-speed, 100 Hz flight using only observable information about other robots, drastically reducing communication needs. The system successfully improves flight time in difficult scenarios while maintaining safety and robustness against communication delays.