Materials for the paper "Trajectory Replanning for Quadrotors Using Kinodynamic Search and Elastic Optimization", which is submitted to ICRA2018.
- contain_linear_segments.nb
The file is to solve the max-min problem in Appendix C in closed form, which is written in Mathematica and has been tested in Mathematica 10.0.
- rbk_inflation.m
The file is to numerically check the inflation needed to guarantee the RBK trajectory to be collision-free, which is written in Matlab and has been tested in Matlab R2016b.
- rbk_inflation_3d.m
The file is to show the 3d case, which provides the complementary results.
- permn.m
The file is to enumerate all the patterns, which is from Jos@Mathworks.
- grid2coord.m
Some basic coordinate transformation.
- print.pdf
For the users who do not have Mathematica installed, we print the script and results from Mathematica for them.
- Wenchao DING
- William Wu
HKUST Robotics Institute