Quadrotor motion planning

Introduction

In this project, we focus on the development of motion planning methodologies for aerial robots. Several approaches, ranging from global planning to local re-planning, are proposed to online generate safe, dynamically feasible, and smooth trajectories for autonomous flights. We also investigate the problem of planning in the temporal domain, which enables fast flight with respect to the physical limits of the drone. We are also extending our methods to the multiple drone scenario.

Paper
1.F. Gao and S. Shen. Online quadrotor trajectory generation and autonomous navigation on point clouds. In Proc. of the IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR), pages 139-146, Lausanne, Switzerland, October 2016. (best_paper)[PDF]
2.F. Gao, Y. Lin and S. Shen. Gradient-based online safe trajectory generation for quadrotor flight in complex environments. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 3681-3688, Vancouver, Canada, September 2017.[PDF]
3.F. Gao, W. Wu, Y. Lin and S. Shen. Online safe trajectory generation for quadrotors using fast marching method and bernstein basis polynomial. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), pages 344-351, Brisbane, Australia, May 2018.[PDF]
4.F. Gao, W. Wu, J. Pan, B. Zhou and S. Shen. Optimal time allocation for quadrotor trajectory generation. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 4715-4722, Madrid, Spain, October 2018.[PDF]
5.L. Han, F. Gao*, B. Zhou and S. Shen. FIESTA: fast incremental Euclidean distance fields for online quadrotor motion planning. In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, November 2019. (*corresponding)[PDF]
6.W. Wu, F. Gao*, L. Wang, B. Zhou and S. Shen. Temporal scheduling and optimization for multi-MAV planning. In Proc. of the International Symposium on Robotics Research (ISRR), Hanoi, Vietnam, October 2019. To appear. (*corresponding)[PDF]
7.B. Zhou, F. Gao*, L. Wang, C. Liu and S. Shen. Robust and Efficient Quadrotor Trajectory
Generation for Fast Autonomous Flight. In IEEE Robotics and Automation Letters, 2019.(*corresponding)[PDF]