This technical report provides detailed theoretical analysis of the algorithm used in \textit{Alternating Minimization Based Trajectory Generation for Quadrotor Aggressive Flight}. An assumption is provided to ensure that settings for the objective function are meaningful. What's more, we explore the structure of the optimization problem and analyze the global/local convergence rate of the employed algorithm.
Cite
@article{arxiv.2002.09254,
title = {Detailed Proofs of Alternating Minimization Based Trajectory Generation for Quadrotor Aggressive Flight},
author = {Zhepei Wang and Xin Zhou and Chao Xu and Fei Gao},
journal= {arXiv preprint arXiv:2002.09254},
year = {2020}
}
Comments
Supplementary material for paper submitted to RA-L/IROS 2020