A lightweight gradient-based local planner without ESDF construction, which significantly reduces computation time compared to some state-of-the-art methods. The total planning time is around 1ms for a trajectory with normal scale.
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.
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.
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.