Time-Optimal Planning for Quadrotor Waypoint Flight

Philipp Foehn, Angel Romero & Davide Scaramuzza
Quadrotors are amongst the most agile flying robots. However, planning time-optimal trajectories at the actuation limit through multiple waypoints remains an open problem. This is crucial for applications such as inspection, delivery, search and rescue, and drone racing. Early works used polynomial trajectory formulations, which do not exploit the full actuator potential due to their inherent smoothness. Recent works resorted to numerical optimization, but require waypoints to be allocated as costs or constraints at specific...
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16 downloads reported since publication in 2021.

These counts follow the COUNTER Code of Practice, meaning that Internet robots and repeats within a certain time frame are excluded.
What does this mean?