mav_trajectory_generation

This repository contains tools for polynomial trajectory generation and optimization based on methods described in [1]. These techniques are especially suitable for rotary-wing micro aerial vehicles (MAVs). This README provides a brief overview of our trajectory generation utilities with some examples.

Authors: Markus Achtelik, Michael Burri, Helen Oleynikova, Rik Bähnemann, Marija Popović Maintainer: Rik Bähnemann, brik@ethz.ch Affiliation: Autonomous Systems Lab, ETH Zurich

Table of Contents

• Time Allocation
  • Benchmark
  • Richter et al.
  • Burri et al.
  • Mellinger and Kumar
  • Segment violation
• Library API
  • Class Hierarchy
  • File Hierarchy
  • Full API
    • Namespaces
    • Classes and Structs
    • Enums
    • Functions
    • Variables
    • Typedefs
    • Directories
    • Files

Bibliography

This implementation is largely based on the work of C. Richter et al, who should be cited if this is used in a scientific publication (or the preceding conference papers): [1] C. Richter, A. Bry, and N. Roy, “Polynomial trajectory planning for aggressive quadrotor flight in dense indoor environments,” in International Journal of Robotics Research, Springer, 2016.

@incollection{richter2016polynomial,
  title={Polynomial trajectory planning for aggressive quadrotor flight in dense indoor environments},
  author={Richter, Charles and Bry, Adam and Roy, Nicholas},
  booktitle={Robotics Research},
  pages={649--666},
  year={2016},
  publisher={Springer}
}

Furthermore, the nonlinear optimization features our own extensions, described in:

Michael Burri, Helen Oleynikova, Markus Achtelik, and Roland Siegwart, “Real-Time Visual-Inertial Mapping, Re-localization and Planning Onboard MAVs in Previously Unknown Environments”. In IEEE Int. Conf. on Intelligent Robots and Systems (IROS), September 2015.

@inproceedings{burri2015real-time,
  author={Burri, Michael and Oleynikova, Helen and  and Achtelik, Markus W. and Siegwart, Roland},
  booktitle={Intelligent Robots and Systems (IROS 2015), 2015 IEEE/RSJ International Conference on},
  title={Real-Time Visual-Inertial Mapping, Re-localization and Planning Onboard MAVs in Unknown Environments},
  year={2015},
  month={Sept}
}