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In this paper, we propose a new method for multirotor planning in dynamicenvironments. The environment is represented as a temporal occupancy grid whichgives the current as well as the future/predicted state of all the obstacles.The method builds on previous works in Safe Corridor generation and multirotorplanning to avoid moving and static obstacles. It first generates a global pathto the goal that doesn't take into account the dynamic aspect of theenvironment. We then use temporal Safe Corridors to generate safe spaces thatthe robot can be in at discrete instants in the future. Finally we use thetemporal Safe Corridors in an optimization formulation that accounts for themultirotor dynamics as well as all the obstacles to generate the trajectorythat will be executed by the multirotor's controller. We show the performanceof our method in simulations.

Multirotor Planning in Dynamic Environments using Temporal Safe Corridors