TopoTraj is a robust planner for quadrotor trajectory replanning. It features searching for a set of topologically distinct trajectories to explore the solution space more thoroughly. It can support aggressive autonomous flight thanks to its computational efficiency and robustness.
The source code will be available after the publication of the related paper.
Authors: Boyu Zhou, Fei Gao and Shaojie Shen from the HUKST Aerial Robotics Group.
Related Paper:
- Robust Real-time UAV Replanning Using Guided Gradient-based Optimization and Topological Paths, Boyu Zhou, Fei Gao, Jie Pan and Shaojie Shen, submitted to IEEE International Conference on Robotics and Automation (ICRA), 2020.
