3 accepted papers
The contribution of this paper is the application of compound state-triggered constraints (STCs) to real-time quadrotor path planning. Originally developed for rocket landing applications, STCs are made up of a trigger condition and a constraint condition that are arranged such that satisfaction of…
In this paper, we employ convex optimization to perform real-time 3-dimensional path planning on-board a quad-rotor and demonstrate its real-time capabilities. Building on our previous work, we make the following modifications: (1)we assume the obstacles are mobile, and (2)we introduce a simple fram…
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…