In this article, we present an optimization-based framework for multicopter trajectory
planning subject to geometrical configuration constraints and user-defined dynamic …

This paper introduces a novel trajectory generation and optimization algorithm (TGO) that
enables agile and aggressive flight of quadrotor UAVs while considering various constraints …

This letter presents a novel learning-based trajectory planning framework for quadrotors that
combines model-based optimization techniques with deep learning. Specifically, we …

Autonomous micro aerial vehicles are deployed for a variety of tasks including surveillance
and monitoring. Perching and staring allow the vehicle to monitor targets without flying …

Minimum-time navigation within constrained and dynamic environments is of special
relevance in robotics. Seeking time-optimality, while guaranteeing the integrity of time …

For quadrotor trajectory planning, describing a polynomial trajectory through coefficients and
end-derivatives both enjoy their own convenience in energy minimization. We name them …

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

High-speed online trajectory planning for UAVs poses a significant challenge due to the
need for precise modeling of complex dynamics while also being constrained by …

This paper presents a general real-time, numerically stable optimization framework for time
polynomial-based trajectory generation of autonomous aerial robots. The proposed general …

This study considers the problem of generating optimal, kino-dynamic-feasible, and obstacle-
free trajectories for a quadrotor through indoor environments. We explore methods to …