Software

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.

preprint:

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.