A hierarchical framework decomposes trajectory planning for articulated aerial robots into global anchor states and parallel local optimization to produce collision-free, dynamically feasible paths directly from point clouds.
Planning Dynamically Feasible Trajectories for Quadrotors Using Safe Flight Corridors in 3-D Complex Environments,
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Hierarchical Trajectory Planning of Floating-Base Multi-Link Robot for Maneuvering in Confined Environments
A hierarchical framework decomposes trajectory planning for articulated aerial robots into global anchor states and parallel local optimization to produce collision-free, dynamically feasible paths directly from point clouds.