Towards Time-Optimal Tunnel-Following for Quadrotors
Jon Arrizabalaga,Markus Ryll,Jon Arrizabalaga,Markus Ryll
Minimum-time navigation within constrained and dynamic environments is of special relevance in robotics. Seeking time-optimality, while guaranteeing the integrity of time-varying spatial bounds, is an appealing trade-off for agile vehicles, such as quadrotors. State-of-the-art approaches, either assume bounds to be static and generate time-optimal trajectories offline, or compromise time-optimalit...
