Trajectory Optimization

Convexity-Exploiting Successive Convexification for Safe Drone Racing
We present a successive-convexification trajectory-optimization framework that exploits convex gate-passage geometry for safe, time-optimal drone racing and validate it in real-world flight experiments.
Zhipeng Shen, Shiyu Zhou, Hailong Huang
Source Document DOI
Autonomous Aerial Vehicle Carrier and MAV Collaboration: System Design, Trajectory Optimization, and Real-world Implementation
We present an autonomous aerial vehicle carrier and MAV collaboration system integrating system design, trajectory optimization, and real-world implementation.
Zhipeng Shen, Guanzhong Zhou, Peng Sun, B. Lan, Q. Meng, Hao Cao, Shiyu Zhou, Jinliang Shao, Hailong Huang
Video
Autonomous Aerial Vehicle Carrier and MAV Collaboration: System Design, Trajectory Optimization, and Real-world Implementation