In this article, we present an optimization-based framework for multicopter trajectory
planning subject to geometrical configuration constraints and user-defined dynamic …

We present an interactive system for computational design, optimization, and fabrication of
multicopters. Our computational approach allows non-experts to design, explore, and …

There is extensive literature on using convex optimization to derive piece-wise polynomial
trajectories for controlling differential flat systems with applications to three-dimensional …

Multicopters are among the most versatile mobile robots. Their applications range from
inspection and mapping tasks to providing vital reconnaissance in disaster zones and to …

In this work, we present Hold Or take Optimal Plan (HOOP), a centralized trajectory
generation algorithm for labeled multi-robot systems operating in obstacle-free, two …

This paper presents a relaxed definition of hover for multicopters with propellers pointing in
a common direction. These solutions are found by requiring that the multicopter remain …

This paper presents a trajectory generation algorithm that efficiently computes high-
performance flight trajectories that are capable of moving a quadrocopter from a large class …

Generating optimal trajectories for a large numbers of vehicles in real-time becomes
extremely challenging when including realistic dynamic models and time-varying obstacle …

We explore the challenges of planning trajectories for quadrotors through cluttered indoor
environments. We extend the existing work on polynomial trajectory generation by …

A method is presented for the rapid generation and feasibility verification of motion primitives
for quadrocopters and similar multirotor vehicles. The motion primitives are defined by the …