Robust and Efficient Quadrotor Trajectory Generation for Fast Autonomous Flight - Zhou, Boyu; Gao, Fei; Wang, Luqi; Liu, Chuhao; Shen, Shaojie (IEEE robotics and automation letters, 2019)
Keywords: aerial systems: perception and autonomy; Aerospace electronics; collision avoidance; Convexity; Dynamics; Euclidean geometry; Hulls; Motion and path planning; Motion planning; Optimization; Resource management; Robotics; Safety; Smoothness; Splines (mathematics); Trajectory; Trajectory control; Trajectory optimization