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Geometrically Constrained Trajectory Optimization for Multicopters

27 February 2021

Zhepei Wang

Xiaoxia Zhou

Chao Xu

Fei Gao

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Papers citing "Geometrically Constrained Trajectory Optimization for Multicopters"

39 / 39 papers shown

Title
Shape-Adaptive Planning and Control for a Deformable Quadrotor Yuze Wu Zhichao Han Xuankang Wu Yuan Zhou Junjie Wang Zheng Fang Fei Gao 79 0 0 21 May 2025
ApexNav: An Adaptive Exploration Strategy for Zero-Shot Object Navigation with Target-centric Semantic Fusion Mingjie Zhang Yuheng Du Chengkai Wu Jinni Zhou Zhenchao Qi Jun Ma Boyu Zhou 182 0 0 20 Apr 2025
Multi-Robot System for Cooperative Exploration in Unknown Environments: A Survey Chuqi Wang Chao Yu Xin Xu Yuman Gao Xinyi Yang ... ZhuoZhu Jian Xinyu Chen Fei Gao Boyu Zhou Yu Wang 86 0 0 10 Mar 2025
FRTree Planner: Robot Navigation in Cluttered and Unknown Environments with Tree of Free Regions Yuezun Li Zhicheng Song Chunxin Zheng Zhihai Bi Kai-Peng Chen Michael Yu Wang Jun Ma 145 1 0 17 Feb 2025
Learning-Enhanced Safeguard Control for High-Relative-Degree Systems: Robust Optimization under Disturbances and Faults Xinyang Wang Hongwei Zhang Shimin Wang Wei Xiao M. Guay 90 0 0 28 Jan 2025
Swept Volume-Aware Trajectory Planning and MPC Tracking for Multi-Axle Swerve-Drive AMRs Tianxin Hu Shenghai Yuan Ruofei Bai Xinghang Xu Yuwen Liao Fen Liu Lihua Xie 101 2 0 22 Dec 2024
EPIC: A Lightweight LiDAR-Based UAV Exploration Framework for Large-Scale Scenarios Shuang Geng Zelin Ning Fu Zhang Boyu Zhou 78 2 0 18 Oct 2024
Dashing for the Golden Snitch: Multi-Drone Time-Optimal Motion Planning with Multi-Agent Reinforcement Learning Xingyu Wang Jin Zhou Yuanli Feng Jiahao Mei Jiming Chen Shuo Li 81 1 0 25 Sep 2024
Universal Trajectory Optimization Framework for Differential Drive Robot Class Mengke Zhang Nanhe Chen Hu Wang Jianxiong Qiu Zhichao Han Qiuyu Ren Chao Xu Fei Gao Yanjun Cao 66 2 0 12 Sep 2024
Flying Calligrapher: Contact-Aware Motion and Force Planning and Control for Aerial Manipulation Xiaofeng Guo Guanqi He Jiahe Xu M. Mousaei Junyi Geng Sebastian Scherer Guanya Shi 93 9 0 08 Jul 2024
FAST-LIO2: Fast Direct LiDAR-inertial Odometry Wei Xu Yixi Cai Dongjiao He Jiarong Lin Fu Zhang 46 875 0 14 Jul 2021
Decentralized Spatial-Temporal Trajectory Planning for Multicopter Swarms Xin Zhou Zhepei Wang Xian Wen Jiangchao Zhu Chao Xu Fei Gao 70 29 0 23 Jun 2021
External Forces Resilient Safe Motion Planning for Quadrotor Yuwei Wu Ziming Ding Chao Xu Fei Gao 55 28 0 20 Mar 2021
Interleaving Graph Search and Trajectory Optimization for Aggressive Quadrotor Flight Ramkumar Natarajan Howie Choset Maxim Likhachev 39 24 0 29 Jan 2021
MINVO Basis: Finding Simplexes with Minimum Volume Enclosing Polynomial Curves J. Tordesillas Jonathan P. How 83 37 0 21 Oct 2020
Generating Large Convex Polytopes Directly on Point Clouds Xingguang Zhong Yuwei Wu Dong Wang Qianhao Wang Chao Xu Fei Gao 3DPC 94 28 0 17 Oct 2020
EGO-Planner: An ESDF-free Gradient-based Local Planner for Quadrotors Xiaoxia Zhou Zhepei Wang Hongkai Ye Chao Xu Fei Gao 41 299 0 20 Aug 2020
Fisher Information Field: an Efficient and Differentiable Map for Perception-aware Planning Zichao Zhang Davide Scaramuzza 64 29 0 07 Aug 2020
CPC: Complementary Progress Constraints for Time-Optimal Quadrotor Trajectories Philipp Foehn Davide Scaramuzza 98 12 0 13 Jul 2020
RAPTOR: Robust and Perception-aware Trajectory Replanning for Quadrotor Fast Flight Boyu Zhou Jie Pan Fei Gao Shaojie Shen 62 226 0 06 Jul 2020
Multi-Fidelity Black-Box Optimization for Time-Optimal Quadrotor Maneuvers Gilhyun Ryou E. Tal S. Karaman 65 42 0 03 Jun 2020
AlphaPilot: Autonomous Drone Racing Philipp Foehn Dario Brescianini Elia Kaufmann Titus Cieslewski Mathias Gehrig Manasi Muglikar Davide Scaramuzza 131 137 0 26 May 2020
A Hybrid Method for Online Trajectory Planning of Mobile Robots in Cluttered Environments L. Campos-Macias D. Gómez‐Gutiérrez R. Aldana-López R. Guardia J. I. Parra-Vilchis 30 44 0 22 Aug 2019
Teach-Repeat-Replan: A Complete and Robust System for Aggressive Flight in Complex Environments Fei Gao Luqi Wang Boyu Zhou Xin Zhou Jie Pan Shaojie Shen 58 139 0 01 Jul 2019
Autonomous Navigation of MAVs in Unknown Cluttered Environments L. Campos-Macias R. Aldana-López R. Guardia J. I. Parra-Vilchis D. Gómez‐Gutiérrez 26 34 0 20 Jun 2019
Rapidly-Exploring Quotient-Space Trees: Motion Planning using Sequential Simplifications A. Orthey Marc Toussaint LRM 48 19 0 04 Jun 2019
Trajectory Generation for Underactuated Multirotor Vehicles with Tilted Propellers via a Flatness-based Method Bingguo Mu P. Chirarattananon 10 5 0 16 May 2019
FASTER: Fast and Safe Trajectory Planner for Flights in Unknown Environments J. Tordesillas B. Lopez Jonathan P. How 67 162 0 08 Mar 2019
An Open-Source System for Vision-Based Micro-Aerial Vehicle Mapping, Planning, and Flight in Cluttered Environments Helen Oleynikova Christian Lanegger Zachary Taylor Michael Pantic A. Millane Roland Siegwart Juan I. Nieto 44 12 0 10 Dec 2018
Fast UAV Trajectory Optimization using Bilevel Optimization with Analytical Gradients Weidong Sun Gao Tang Kris K. Hauser 37 55 0 27 Nov 2018
Quotient-Space Motion Planning A. Orthey Adrien Escande E. Yoshida 60 19 0 25 Jul 2018
Differential Flatness of Quadrotor Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed Trajectories Matthias Faessler Antonio Franchi Davide Scaramuzza 44 309 0 06 Dec 2017
Fast, Autonomous Flight in GPS-Denied and Cluttered Environments K. Mohta Michael Watterson Yash Mulgaonkar Sikang Liu Chao Qu ... Giuseppe Loianno Davide Scaramuzza Kostas Daniilidis Camillo J Taylor Vijay Kumar 56 196 0 06 Dec 2017
Search-based Motion Planning for Quadrotors using Linear Quadratic Minimum Time Control Sikang Liu Nikolay Atanasov K. Mohta Vijay Kumar 34 191 0 15 Sep 2017
Informed Sampling for Asymptotically Optimal Path Planning (Consolidated Version) Jonathan Gammell Timothy D. Barfoot S. Srinivasa 50 163 0 20 Jun 2017
Aggressive Quadrotor Flight through Narrow Gaps with Onboard Sensing and Computing using Active Vision Davide Falanga Elias Mueggler Matthias Faessler Davide Scaramuzza 51 179 0 01 Dec 2016
Asymptotically Optimal Sampling-based Kinodynamic Planning Yanbo Li Zakary Littlefield Kostas E. Bekris 76 267 0 10 Jul 2014
Fast Marching Tree: a Fast Marching Sampling-Based Method for Optimal Motion Planning in Many Dimensions Lucas Janson Edward Schmerling Ashley Clark Marco Pavone 70 529 0 15 Jun 2013
Sampling-based Algorithms for Optimal Motion Planning S. Karaman Emilio Frazzoli 102 4,697 0 05 May 2011