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k-sheridan / multirotor_trajectory

Trajectory Generation For a Quadrotor written in both MATLAB and C++ for ROS

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aggressiveminimumpolynomialquadcopterrostrajectorytrajectory-generation

Minimum Time Actuator Constrained Trajectory Generation for a differentially flat aircraft.

Author: Kevin Sheridan

Based on the work by Mark Cutler: http://acl.mit.edu/papers/Cutler_Masters12.pdf

This package is capable of generating minimum time polynomial trajectories through N waypoints with structure constraints.

Example of generated trajectory: Trajectory Video

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Trajectory Generation For a Quadrotor written in both MATLAB and C++ for ROS

aggressiveminimumpolynomialquadcopterrostrajectorytrajectory-generation

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