A drone trajectory planner generates collision-free, near-time-optimal avoidance paths around moving rectangular obstacles in under 6 ms by optimizing waypoint velocities analytically.
Fast full state trajectory generation for multirotors,
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Fast Time-optimal Avoidance of Moving Obstacles for High-Speed MAV Flight
A drone trajectory planner generates collision-free, near-time-optimal avoidance paths around moving rectangular obstacles in under 6 ms by optimizing waypoint velocities analytically.