Design and Evaluation of Motion Planners for Quadrotors in Environments with Varying Complexities
Yifei Simon Shao,Yuwei Wu,Laura Jarin-Lipschitz,Pratik Chaudhari,Vijay Kumar,Yifei Simon Shao,Yuwei Wu,Laura Jarin-Lipschitz,Pratik Chaudhari,Vijay Kumar
Motion planning techniques for quadrotors have advanced significantly over the past decade. Most successful planners have two stages: a front-end that determines a path that incorporates geometric (or kinematic or input) constraints and specifies the homotopy class of the trajectory, and a back-end that optimizes this path to respect dynamics and input constraints. While there are many different c...
