Related papers: Computing minimum-time trajectories for quadrotors…
In this paper, we present a novel strategy to compute minimum-time trajectories for quadrotors in constrained environments. In particular, we consider the motion in a given flying region with obstacles and take into account the physical…
The increasing popularity of quadrotors has given rise to a class of predominantly vision-driven vehicles. This paper addresses the problem of perception-aware time optimal path parametrization for quadrotors. Although many different…
Planning time-optimal trajectories for quadrotors in cluttered environments is a challenging, non-convex problem. This paper addresses minimizing the traversal time of a given collision-free geometric path without violating bounds on…
In this work, we propose a search-based planning method to compute dynamically feasible trajectories for a quadrotor flying in an obstacle-cluttered environment. Our approach searches for smooth, minimum-time trajectories by exploring the…
Minimum-time navigation within constrained and dynamic environments is of special relevance in robotics. Seeking time-optimality, while guaranteeing the integrity of time-varying spatial bounds, is an appealing trade-off for agile vehicles,…
We tackle the problem of planning a minimum-time trajectory for a quadrotor over a sequence of specified waypoints in the presence of obstacles while exploiting the full quadrotor dynamics. This problem is crucial for autonomous search and…
In many mobile robotics scenarios, such as drone racing, the goal is to generate a trajectory that passes through multiple waypoints in minimal time. This problem is referred to as time-optimal planning. State-of-the-art approaches either…
One of the keys to flying quadrotors is to optimize their trajectories within the set of collision-free corridors. These corridors impose nonconvex constraints on the trajectories, making real-time trajectory optimization challenging. We…
It is a significant requirement for a quadrotor trajectory planner to simultaneously guarantee trajectory quality and system lightweight. Many researchers focus on this problem, but there's still a gap between their performance and our…
Agile quadrotor flight pushes the limits of control, actuation, and onboard perception. While time-optimal trajectory planning has been extensively studied, existing approaches typically neglect the tight coupling between vehicle dynamics,…
Trajectory retiming is the task of computing a feasible time parameterization to traverse a path. It is commonly used in the decoupled approach to trajectory optimization whereby a path is first found, then a retiming algorithm computes a…
Solving for the minimum time bounded acceleration trajectory with prescribed position and velocity at endpoints is a highly nonlinear problem. The methods and bounds developed in this paper distinguish when there is a continuous…
Quadrotors are among the most agile flying robots. However, planning time-optimal trajectories at the actuation limit through multiple waypoints remains an open problem. This is crucial for applications such as inspection, delivery, search…
In this work, we address the problem of computation time for trajectory generation in quadrotors. Most trajectory generation methods for waypoint navigation of quadrotors, for example minimum snap/jerk and minimum-time, are structured as…
We tackle the problem of minimum-time flight for a quadrotor through a sequence of waypoints in the presence of obstacles while exploiting the full quadrotor dynamics. Early works relied on simplified dynamics or polynomial trajectory…
This paper introduces Function-space Adaptive Constrained Trajectory Optimization (FACTO), a new trajectory optimization algorithm for both single- and multi-arm manipulators. Trajectory representations are parameterized as linear…
Time-optimal trajectories drive quadrotors to their dynamic limits, but computing such trajectories involves solving non-convex problems via iterative nonlinear optimization, making them prohibitively costly for real-time applications. In…
With much research has been conducted into trajectory planning for quadrotors, planning with spatial and temporal optimal trajectories in real-time is still challenging. In this paper, we propose a framework for generating large-scale…
Trajectory generation for quadrotors with limited field-of-view sensors has numerous applications such as aerial exploration, coverage, inspection, videography, and target tracking. Most previous works simplify the task of optimizing yaw…
We present two quadrotor raceline optimization approaches which differ in using Euclidean or non-Euclidean geometry to describe vehicle position. Both approaches use high-fidelity quadrotor dynamics and avoid the need to approximate gates…