Reactive collision avoidance for the teleoperation of a micro aerial vehicle

Teleoperating an aerial vehicle might not be easy for naive users. A common approach to facilitate this task is to endow the robot with the autonomous capability of avoiding obstacles, while following the user command as much as possible. In this work, we present a reactive collision avoidance algorithm that, based on minimal sensing (monocular RGB camera), allows the safe navigation of a teleoperated micro aerial vehicle (MAV) in complex and unknown environments