LAUSR

Dear editor, Collision avoidance is one of the classical topics in robotics research. Collision avoidance control is guided by implementing typical collision avoidance methods, such as potential field [1], dynamic programming [2], and geometrical calculation [3], to various platforms. Since these methods usually assume the perfect localization of an obstacle, they may not guarantee collision-free operations during the stochastic operation of robots wherein the obstacle is localized using noisy sensors. In particular, for micro aerial vehicles (MAVs), the potential obstacles are detected using low-resolution sensors, such as cameras [4] and low-cost radars [5], leading to obstacle localization with high uncertainty. This study considers collision avoidance tasks with relative localization uncertainty to ensure an optimum operation safety of MAVs using low-cost sensors, which have imperfect sensing mechanism.