A library for generating large-scale piecewise polynomial trajectories for aggressive autonomous flights, with highlights on its superior computational efficiency and simultaneous spatial-temporal optimality. Besides, an extremely fast feasibility checker is designed for various kinds of constraints. Our method is capable of computing a spatial-temporal optimal trajectory with 60 pieces within 5ms, i.e., 200Hz.


Alternating Minimization Based Trajectory Generation for Quadrotor Aggressive Flight

Detailed Proofs of Alternating Minimization Based Trajectory Generation for Quadrotor Aggressive Flight


A complete and robust system containing all components for UAV aggressive flight in complex environments. Our system can capture users’ intention of a flight mission, convert an arbitrarily jerky teaching trajectory to a guaranteed smooth and safe repeating trajectory, and generate safe local re-plans to avoid unmapped or moving obstacles on the flight.

paper: Teach-Repeat-Replan: A Complete and Robust System for Aggressive Flight in Complex Environments


A quadrotor trajectory generator which combines kinodynamic path search and gradient-based trajectory optimization for fast autonomous flight.

paper: Robust and Efficient Quadrotor Trajectory Generation for Fast Autonomous Flight


A framework for online generating safe and dynamically feasible trajectories directly on the point clouds.

paper: Flying on Point Clouds: Online Trajectory Generation and Autonomous Navigation for Quadrotor in Cluttered Environments


An online UAV planning framework used to generate safe, dynamically feasible trajectories in unknown environments.

paper: Online Safe Trajectory Generation For Quadrotors Using Fast Marching Method and Bernstein Basis Polynomial.


A tool to do re-timing (time optimization) of an arbitrary piecewise polynomial-based trajectory (no matter monomial polynomial, Bezier curve, B-spline or others).

paper: Optimal Time Allocation for Quadrotor Trajectory Generation


An efficient ROS-package for gradient-based piecewise polynomial trajectory optimization.

paper: Gradient-Based Online Safe Trajectory Generation for Quadrotor Flight in Complex Environments.