Time Allocation

Optimization for:

• Time only (Burri, Richter, Mellinger and Segment violation)
• Time and free constraints (Burri and Richter)

Methods implemented:

1. C. Richter, A. Bry, and N. Roy, “Polynomial trajectory planning for aggressive quadrotor flight in dense indoor environments,” in International Journal of Robotics Research, Springer, 2016.
2. M. Burri, H. Oleynikova, M. Achtelik, and R. Siegwart, “Real-Time Visual-Inertial Mapping, Re-localization and Planning Onboard MAVs in Previously Unknown Environments”. In IEEE Int. Conf. on Intelligent Robots and Systems (IROS), September 2015.
3. D. Mellinger and V. Kumar, "Minimum Snap Trajectory Generation and Control for Quadrotors"
4. Segment violation

Benchmark

• trajectory time
• computation time
• relative violation of velocity
• maximum distance between trajectory and straight line
• area between trajectory and straight line

Additionally:

• comparison of convergence time and quality of default and custom initial step
• comparison magic fabian vs. trapezoidal for initial time segments

Richter et al.

Paper: Polynomial trajectory planning for aggressive quadrotor flight in dense indoor environments
Published in: International Journal of Robotics Research, Springer
Year: 2016

Usable for optimization of:

• Time only (NonlinearOptimizationParameters::kRichterTime):
• Time and free derivatives (NonlinearOptimizationParameters::kRichterTimeAndConstraints):
  
  

Burri et al.

Paper: Real-Time Visual-Inertial Mapping, Re-localization and Planning Onboard MAVs in Previously Unknown Environments
Published in: IEEE Int. Conf. on Intelligent Robots and Systems (IROS)
Year: 2015

Usable for optimization of:

• Time only (NonlinearOptimizationParameters::kSquaredTime)
• Time and free derivatives (NonlinearOptimizationParameters::kSquaredTimeAndConstraints):
  
  
  
  

Mellinger and Kumar

Paper: Minimum Snap Trajectory Generation and Control for Quadrotors
Published in: IEEE International Conference on Robotics and Automation (ICRA)
Year: 2011

Usable for optimization of:

• Time only (NonlinearOptimizationParameters::kMellingerOuterLoop):
  
  
  
  

Segment violation

Usable for optimization of:

• Time only: