Acceleration Constrained Quadrotor Trajectory Optimization

My final project presentation for 6.8210 Underactuated Robotics at MIT, Spring 2024.

This video explains what is

One more slightly pessimistic point -

Underactuated Robots S22 Final Project by Christian Viteri and Portia Gaitskell.

"Fast Manipulability Maximization Using Continuous-Time

The optimal

The key to flying

Abstract—In this paper we propose a novel approach for

In many mobile robotics scenarios, such as drone racing, the goal is to generate a

(GCS+TOPPRA) Quadrotor Trajectory Optimization In Dense Obstacle Fields Using Graphs Of Convex Sets

Simple demonstration of collision-avoidance in dynamic

This video is an introduction to

Second-Order Conic-Constrained Trajectory Optimization for 6-DOF Quadrotor Precision Landing

(GCS ONLY) Quadrotor Trajectory Optimization In Dense Obstacle Fields Using Graphs of Convex Sets

3D simulation of a

source: https://github.com/alescontrela/DDP_Examples.

This video shows how to formulate and program a

Airways:

This video is supplementary Material to The paper; " A numerically-stable

A pre-recorded version of our presentation at the 2021 International Conference on Robotics and Automation. Authors: Matthew ...