Polynomial Trajectory Planning for Aggressive Quadrotor Flight in Dense Indoor Environments

We explore the challenges of planning trajectories for quadrotors through cluttered indoor environments. We extend the existing work on polynomial trajectory generation by presenting a method of jointly optimizing polynomial path segments in an unconstrained quadratic program that is numerically sta...

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Bibliographic Details
Main Authors: Richter, Charles Andrew, Bry, Adam P., Roy, Nicholas
Other Authors: Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Format: Article
Language:en_US
Published: Sage Publications 2017
Online Access:http://hdl.handle.net/1721.1/106840
https://orcid.org/0000-0003-3765-2021
https://orcid.org/0000-0002-8293-0492