# ISB-NMPC: Spherical-Bearing Nonlinear Model Predictive Control for Quadrotor Interception

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/xwxoe2f6m4h20l9kbm8pr6kjf
- Original: https://arxiv.org/abs/2610.34789

## Summary

The authors propose ISB-NMPC, which couples spherical-bearing prediction with nonlinear quadrotor dynamics to jointly optimize target-approach motion and target visibility. Across 30 paired simulation trials, the method achieved an interception success rate of 86.7%, the highest among the compared controllers, with a mean per-trial target-visible time of 99.11%. In outdoor flights, the interceptor acquired a 30 cm target at approximately 150 m, reached 17 m/s in long-range flight, and flew at approximately 14 m/s while pursuing a maneuvering target towed by a quadrotor. Both software and hardware are open source.