2 papers
eess.SY2021
Fast Spline Trajectory Planning: Minimum Snap and Beyond
Declan Burke, Airlie Chapman, Iman Shames
In this paper, we study spline trajectory generation via the solution of two optimisation problems: (i) a quadratic program (QP) with linear equality constraints and (ii) a nonline…
eess.SY2020
Generating Minimum-Snap Quadrotor Trajectories Really Fast
Declan Burke, Airlie Chapman, Iman Shames
We propose an algorithm for generating minimum-snap trajectories for quadrotors with linear computational complexity with respect to the number of segments in the spline trajectory…