Daniel Dueri

Convexification and real-time on-board optimization for agile quad-rotor maneuvering and obstacle avoidance

In this paper, we apply lossless and successive convexification techniques and employ real-time on-board convex optimization to perform constrained motion planning for quadrotors. In general, this problem is challenging for real-time on-board applications due to its non-convex nature. The ability to…