GCOPTER is a versatile multicopter trajectory optimizer built upon a novel sparse trajectory representation MINCO.
- To be open-sourced.
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:
- 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.