Optimization

CPC: Complementary Progress Constraints for Time-Optimal Quadrotor Trajectories

In many mobile robotics scenarios, such as drone racing, the goal is to generate a trajectory that passes through multiple waypoints in minimal time. This problem is referred to as time-optimal planning. State-of-the-art approaches either use …

AlphaPilot: Autonomous Drone Racing

VIMO: Simultaneous Visual Inertial Model-based Odometry and Force Estimation

PAMPC: Perception-Aware Model Predictive Control for Quadrotors

We present the first perception-aware model predictive control framework for quadrotors that unifies control and planning with respect to action and perception objectives. Our framework leverages numerical optimization to compute trajectories that …

Fast Trajectory Optimization for Agile Quadrotor Maneuvers with a Cable-Suspended Payload

Executing agile quadrotor maneuvers with cablesuspended payloads is a challenging problem and complications induced by the dynamics typically require trajectory optimization. State-of-the-art approaches often need significant computation time and …