相关论文: Accelerating Trajectory Generation for Quadrotors …

Autonomous drone racing is becoming an excellent platform to challenge quadrotors' autonomy techniques including planning, navigation and control technologies. However, most research on this topic mainly focuses on single drone scenarios.…

In this paper, we present a novel optimization-based framework for autonomous excavator trajectory generation under various objectives, including minimum joint displacement and minimum time. Traditional methods on excavation trajectory…

In this paper, we propose an alternating optimization method to address a time-optimal trajectory generation problem. Different from the existing solutions, our approach introduces a new formulation that minimizes the overall trajectory…

We tackle the problem of flying time-optimal trajectories through multiple waypoints with quadrotors. State-of-the-art solutions split the problem into a planning task - where a global, time-optimal trajectory is generated - and a control…

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…

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…

In this paper we present a novel strategy to compute minimum-time trajectories for quadrotors. In particular, we consider the motion in constrained environments, taking into account the physical limitations of the vehicle. Instead of…

Trajectory planning for quadrotors in cluttered environments has been challenging in recent years. While many trajectory planning frameworks have been successful, there still exists potential for improvements, particularly in enhancing the…

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,…

Joint space trajectory optimization under end-effector task constraints leads to a challenging non-convex problem. Thus, a real-time adaptation of prior computed trajectories to perturbation in task constraints often becomes intractable.…

Trajectory generation for visually impaired scenarios requires smooth and temporally consistent state in structured, low-speed dynamic environments. However, traditional jerk-based heuristic trajectory sampling with independent segment…

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,…

Recent ODE/SDE-based generative models, such as diffusion models, rectified flows, and flow matching, define a generative process as a time reversal of a fixed forward process. Even though these models show impressive performance on…

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…

Mobility trajectories are essential for understanding urban dynamics and enhancing urban planning, yet access to such data is frequently hindered by privacy concerns. This research introduces a transformative framework for generating…

The widespread use of GPS devices has driven advances in spatiotemporal data mining, enabling machine learning models to simulate human decision making and generate realistic trajectories, addressing both data collection costs and privacy…

GPS trajectories are the essential foundations for many trajectory-based applications, such as travel time estimation, traffic prediction and trajectory similarity measurement. Most applications require a large amount of high sample rate…

Reliable and efficient trajectory generation methods are a fundamental need for autonomous dynamical systems of tomorrow. The goal of this article is to provide a comprehensive tutorial of three major convex optimization-based trajectory…

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…

Trajectory generation in dynamic environments presents a significant challenge for quadrotors, particularly due to the non-convexity in the spatial-temporal domain. Many existing methods either assume simplified static environments or…