Time Allocation¶
Optimization for:
- Time only (Burri, Richter, Mellinger and Segment violation)
- Time and free constraints (Burri and Richter)
Methods implemented:
- 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.
- M. Burri, H. Oleynikova, M. Achtelik, and R. 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.
- D. Mellinger and V. Kumar, “Minimum Snap Trajectory Generation and Control for Quadrotors”
- Segment violation
Benchmark¶
- trajectory time
- computation time
- relative violation of velocity
- maximum distance between trajectory and straight line
- area between trajectory and straight line
Additionally:
- comparison of convergence time and quality of default and custom initial step
- comparison magic fabian vs. trapezoidal for initial time segments
Richter et al.¶
Paper: Polynomial trajectory planning for aggressive quadrotor flight in dense indoor environmentsPublished in: International Journal of Robotics Research, SpringerYear: 2016
Usable for optimization of:
- Time only (
NonlinearOptimizationParameters::kRichterTime): - Time and free derivatives (
NonlinearOptimizationParameters::kRichterTimeAndConstraints):
Burri et al.¶
Paper: Real-Time Visual-Inertial Mapping, Re-localization and Planning Onboard MAVs in Previously Unknown EnvironmentsPublished in: IEEE Int. Conf. on Intelligent Robots and Systems (IROS)Year: 2015
Usable for optimization of:
- Time only (
NonlinearOptimizationParameters::kSquaredTime) - Time and free derivatives (
NonlinearOptimizationParameters::kSquaredTimeAndConstraints):
Mellinger and Kumar¶
Paper: Minimum Snap Trajectory Generation and Control for QuadrotorsPublished in: IEEE International Conference on Robotics and Automation (ICRA)Year: 2011
Usable for optimization of:
- Time only (
NonlinearOptimizationParameters::kMellingerOuterLoop):
