Detailed Proofs of Alternating Minimization Based Trajectory Generation for Quadrotor Aggressive Flight
arXiv:2002.09254
Abstract
This technical report provides detailed theoretical analysis of the algorithm used in \textit{Alternating Minimization Based Trajectory Generation for Quadrotor Aggressive Flight}. An assumption is provided to ensure that settings for the objective function are meaningful. What's more, we explore the structure of the optimization problem and analyze the global/local convergence rate of the employed algorithm.
Supplementary material for paper submitted to RA-L/IROS 2020