  A perception-aware Nonlinear Model Predictive Control (NMPC) strategy aimed
at performing vision-based target tracking and collision avoidance with a
multi-rotor aerial vehicle is presented in this paper. The proposed control
strategy considers both realistic actuation limits at the torque level and
visual perception constraints to enforce the visibility coverage of a target
while complying with the mission objectives. Furthermore, the approach allows
to safely navigate in a workspace area populated by dynamic obstacles with a
ballistic motion. The formulation is meant to be generic and set upon a large
class of multi-rotor vehicles that covers both coplanar designs like quadrotors
as well as fully-actuated platforms with tilted propellers. The feasibility and
effectiveness of the control strategy are demonstrated via closed-loop
simulations achieved in MATLAB.
