A quadrotor trajectory generation pipeline combines kinodynamic search in discretized control space, B-spline optimization using Euclidean distance field gradients and convex hull properties, and iterative time adjustment on non-uniform B-splines to produce minimum-time dynamically feasible paths.
Gradient-based online safe trajectory generation for quadrotor flight in complex environments,
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cs.RO 2years
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UNVERDICTED 2representative citing papers
A complete system for aggressive quadrotor flight that smooths arbitrary human teaching paths into feasible repeating trajectories and performs onboard local replanning to handle unmapped or moving obstacles.
citing papers explorer
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Robust and Efficient Quadrotor Trajectory Generation for Fast Autonomous Flight
A quadrotor trajectory generation pipeline combines kinodynamic search in discretized control space, B-spline optimization using Euclidean distance field gradients and convex hull properties, and iterative time adjustment on non-uniform B-splines to produce minimum-time dynamically feasible paths.
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Teach-Repeat-Replan: A Complete and Robust System for Aggressive Flight in Complex Environments
A complete system for aggressive quadrotor flight that smooths arbitrary human teaching paths into feasible repeating trajectories and performs onboard local replanning to handle unmapped or moving obstacles.