The increasing popularity of quadrotors has given rise to a class of predominantly vision-driven vehicles. This paper addresses the problem of perception-aware time optimal path parametrization for quadrotors. Although many different choices of perceptual modalities are available, the low weight and power budgets of quadrotor systems makes a camera ideal for on-board navigation and estimation algorithms. However, this does come with a set of challenges. The limited field of view of the camera can restrict the visibility of salient regions in the environment, which dictates the necessity to consider perception and planning jointly. The main contribution of this paper is an efficient time optimal path parametrization algorithm for quadrotors with limited field of view constraints. We show in a simulation study that a state-of-the-art controller can track planned trajectories, and we validate the proposed algorithm on a quadrotor platform in experiments.
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