Code for CMPCC is available on Github

CMPCC is an efficient, receding horizon, local adaptive low-level planner as the middle layer between our original planner and controller trr.

Author: Jialin Ji, Xin Zhou and Fei Gao from the ZJU Fast Lab.

Related Paper:

• CMPCC: Corridor-based Model Predictive Contouring Control for Aggressive Drone Flight, Jialin Ji, Xin Zhou, Chao Xu, Fei Gao, submitted to ISER.

Video Linksyoutube or bilibili