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.
Path planning for autonomous vehicles in unknown semi-structured environments,
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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.