/ddto

Deferred Decision Trajectory Optimization

Primary LanguageMATLAB

Deferred Decision Trajectory Optimization

Quadrotor motion planning examples

ddto-micp

  • discrete-time linear system (3D double integrator)
  • convex path constraints: thrust pointing, thrust upper bound and lower bound (convexified)

ddto-qcvx

  • discrete-time linear system (3D double integrator)
  • convex path constraints: thrust pointing, thrust upper bound and lower bound (convexified)

ddto-scp

  • continuous-time nonlinear system (3D double integrator with drag)
  • nonconvex path constraints: obstacle avoidance, speed upper bound, thrust pointing, thrust upper and lower bound