Publication: Time-Optimal Online Replanning for Agile Quadrotor Flight
Time-Optimal Online Replanning for Agile Quadrotor Flight
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Romero, A., Penicka, R., & Scaramuzza, D. (2022). Time-Optimal Online Replanning for Agile Quadrotor Flight. IEEE Robotics and Automation Letters, 7, 7730–7737. https://doi.org/10.1109/LRA.2022.3185772
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In this letter, we tackle the problem of flying a quadrotor using time-optimal control policies that can be replanned online when the environment changes or when encountering unknown disturbances. This problem is challenging as the time-optimal trajectories that consider the full quadrotor dynamics are computationally expensive to generate, on the order of minutes or even hours. We introduce a sampling-based method for efficient generation of time-optimal paths of a point-mass model. These paths are then tracked using a Model Predicti
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- Romero, Angel
- Penicka, Robert
- Scaramuzza, Davide
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Romero, A., Penicka, R., & Scaramuzza, D. (2022). Time-Optimal Online Replanning for Agile Quadrotor Flight. IEEE Robotics and Automation Letters, 7, 7730–7737. https://doi.org/10.1109/LRA.2022.3185772
