Efficient Trajectory Optimization For Generalized Multirotors Via Sequential Convex Programming

Summary

What does it take for an aerial robot to move through a Accepted by IEEE Transactions on Automation Science and Engineering This work presents gusto a framework for guaranteed Lecture 12 for Optimal Control and Reinforcement Learning 2022 by Prof. Zac Manchester. Topics: - Free and minimum-time ... More projects at robotics-trail.github.io. Agile flight is significant for target tracking, search and rescue, and delivery applications. To achieve agile flight, we can exploit the ... Real-time optimal collision-free motion planning of aerial robots (quadrotors) See the ICRA 2015 paper for additional details: markjcutler.com/papers/Chen15_ICRA.pdf. Planning time optimal motion with limited joint speed, acceleration, torque, or even torque rate for robots with high degrees of ... Lecture 11 for Optimal Control and Reinforcement Learning (CMU 16-745) 2025 by Prof. Zac Manchester. Topics: - Nonlinear ... User guide: mecatronyx.gitlab.io/opencnc/opencn/ Software: gitlab.com/mecatronyx/opencnc/opencn Forums: ... Ph.D. thesis defense, June 9 2021.