For safe vision-based control applications, perception-related constraints have to be satisfied in addition to other state constraints. In this paper, we deal with the problem where a multirotor equipped with a camera needs to maintain the visibility of a point of interest while tracking a reference given by a high-level planner. We devise a method based on reference governor that, differently from existing solutions, is able to enforce control-level visibility constraints with theoretically assured feasibility. To this end, we design a new type of reference governor for linear systems with polynomial constraints which is capable of handling time-varying references. The proposed solution is implemented online for the real-time multirotor control with visibility constraints and validated with simulations and an actual hardware experiment.

翻译：在安全的视觉控制应用中，除常规状态约束外，还需满足感知相关约束。本文研究配备相机的多旋翼飞行器在跟踪高层规划器给定参考轨迹时，需保持感兴趣点可见性的问题。我们提出一种基于参考调节器的方法，与现有解决方案不同，该方法能在理论上确保可行性的前提下实施控制层面的可见性约束。为此，我们针对具有多项式约束的线性系统设计了一种新型参考调节器，能够处理时变参考信号。所提方案通过在线实现，用于具有可见性约束的多旋翼飞行器实时控制，并通过仿真和实际硬件实验进行了验证。