yuwei-wu / gcopter

A Revised Version of GCOPTER

GCOPTER

This is a revised version for benchmarking used by Kumar Lab.

GCOPTER is an efficient and versatile multicopter trajectory optimizer built upon a novel sparse trajectory representation named MINCO. User-defined state-input constraints for dynamics involving nonlinear drag effects are supported.

About

If our repo helps your academic projects, please cite our paper. Thank you!

Author: Zhepei Wang and Fei Gao from ZJU FAST Lab.

Paper: Geometrically Constrained Trajectory Optimization for Multicopters, Zhepei Wang, Xin Zhou, Chao Xu, and Fei Gao, IEEE Transactions on Robotics (T-RO), Regular Paper.

@article{WANG2022GCOPTER,
    title={Geometrically Constrained Trajectory Optimization for Multicopters}, 
    author={Wang, Zhepei and Zhou, Xin and Xu, Chao and Gao, Fei}, 
    journal={IEEE Transactions on Robotics}, 
    year={2022}, 
    volume={38}, 
    number={5}, 
    pages={3259-3278}, 
    doi={10.1109/TRO.2022.3160022}
}

Powerful Submodules

• SDLP: Seidel's Algorithm on Linear-Complexity Linear Programming for Computational Geometry.
• VertexEnumeration3D: Highly Efficient Vertex Enumeration for 3D Convex Polytopes (Outperforms cddlib in 3D).
• LBFGS-Lite: An Easy-to-Use Header-Only L-BFGS Solver.