Supplementary Material: Geometrically Constrained Trajectory Optimization for Multicopters

Author Zhepei Wang, Xin Zhou, Chao Xu and Fei Gao

Source code (to be released) of the proposed framework:

Task-specified Experiments and Simulations:

1. Robust Real-Time SE(3) Planning: youtube or bilibili. (Reported by IEEE Spectrum Website!)


2. Multicopter Swarms Planning: youtube or bilibili. (Also Reported by IEEE Spectrum Website!)


3. Long-Distance Drone Racing Planning: youtube or bilibili. (Published in IEEE RA-L)


4. Gaze Teleoperation Planning: youtube or bilibili.


5. Formation Keeping Planning: youtube or bilibili.


6.  A variety of applications powered by GCOPTER or MINCO are not listed here, such as: visibility-aware aerial tracking or planning with nonlinear drag effects.