shike1239/GCOPTER

A General-Purpose Trajectory Optimizer for Multicopters

GCOPTER

GCOPTER is a versatile multicopter trajectory optimizer built upon a novel sparse trajectory representation MINCO.

• To be open-sourced.

0. About

Author: Zhepei Wang and Fei Gao from the ZJU FAST Lab.

Related Paper:

Geometrically Constrained Trajectory Optimization for Multicopters, Zhepei Wang, Xin Zhou, Chao Xu, and Fei Gao, Under Review.

@article{WANG2021GCOPTER,
    title={Geometrically Constrained Trajectory Optimization for Multicopters},
    author={Wang, Zhepei and Zhou, Xin and Xu, Chao and Gao, Fei},
    journal={arXiv preprint arXiv:2103.00190},
    year={2021}
}

Video:

• Robust real-time SE(3) tasks: youtube or bilibili.

• More tasks powered by GCOPTER will be released, including dense dynamic obstacles, multicopter swarms, and large-scale drone racing.

Available Powerful Submodules:

• SDLP: Seidel's Algorithm on Linear-Complexity Linear Programming for Computational Geometry.
• VertexEnumeration3D: Highly Efficient Vertex Enumeration for 3D Convex Polytopes (Outperforms cddlib in 3D).
• LBFGS-Lite: An Easy-to-Use Header-Only L-BFGS Solver.