Skip to content

Materials for the paper "Trajectory Replanning for Quadrotors Using Kinodynamic Search and Elastic Optimization"

Notifications You must be signed in to change notification settings

WenchaoDing/kinodynamic_replanning

Repository files navigation

kinodynamic_replanning

Materials for the paper "Trajectory Replanning for Quadrotors Using Kinodynamic Search and Elastic Optimization", which is submitted to ICRA2018.

File Discription

  • 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.

Authors

  • Wenchao DING
  • William Wu

HKUST Robotics Institute

About

Materials for the paper "Trajectory Replanning for Quadrotors Using Kinodynamic Search and Elastic Optimization"

Resources

Stars

Watchers

Forks

Releases

No releases published

Packages

No packages published