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Efficient and Robust Time-Optimal Trajectory Planning and Control for Agile Quadrotor Flight

Paper: Efficient and Robust Time-Optimal Trajectory Planning and Control for Agile Quadrotor Flight

video

Efficient and Robust Time-Optimal Trajectory Planning and Control for Agile Quadrotor Flight

Instructions

  1. Install ros noetic
  2. Setup the ros workspace: ~/fast_fly_ws
  3. Install CasADi python package: pip3 install casadi
  4. Clone this repository into ~/fast_fly_ws/src
  5. Clone the repository https://github.com/ZhouZiyuBIT/px4_bridge.git into ~/fast_fly_ws/src for simulation
  6. Compile: run catkin_make in ~/fast_fly_ws
  7. Run the example with roslaunch fast_fly fast_fly_sim.launch

This will run the time-optimal planning and tracking in the simulation:

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