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In this paper, we propose a complete and robust motion planning system for the aggressive flight of autonomous quadrotors.
M. Paton, K. MacTavish, M. Warren, and T. D. Barfoot, “Bridging the appearance gap: Multi-experience localization for long-term visual teach and repeat,” in Proc. of the IEEE/RSJ Intl. Conf. on Intell. Robots and Syst.(IROS) , 2016, pp. 1918–1925
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T. Lee, M. Leoky, and N. H. McClamroch, “Geometric tracking control of a quadrotor uav on se (3),” in Proc. of the IEEE Control and Decision Conf. (CDC) , Atlanta, GA, Dec. 2010, pp. 5420–5425
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C. J. Ostafew, A. P. Schoellig, and T. D. Barfoot, “Visual teach and repeat, repeat: Iterative learning control to improve mobile robot path tracking in challenging outdoor environments,” in Proc. of the IEEE/RSJ Intl. Conf. on Intell. Robots and Syst.(IROS) , 2013, pp. 176–181
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C. Richter, A. Bry, and N. Roy, “Polynomial trajectory planning for aggressive quadrotor flight in dense indoor environments,” in Proc. of the Intl. Sym. of Robot. Research (ISRR) , Dec. 2013, pp. 649–666
2013
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P. Furgale, P. Krüsi, F. Pomerleau, U. Schwesinger, F. Colas, and R. Siegwart, “There and back again-dealing with highly-dynamic scenes and long-term change during topological/metric route following,” in ICRA14 Workshop on Modelling, Estimation, Perception, and Control of All Terrain Mobile Robots , 2014
2014
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Q.-C. Pham, “A general, fast, and robust implementation of the time-optimal path parameterization algorithm,” IEEE Transactions on Robotics , vol. 30, no. 6, pp. 1533–1540, 2014
2014
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P. Krüsi, B. Bücheler, F. Pomerleau, U. Schwesinger, R. Siegwart, and P. Furgale, “Lighting-invariant adaptive route following using iterative closest point matching,” Journal of Field Robotics , vol. 32, no. 4, pp. 534–564, 2015
F. Gao, Y. Lin, and S. Shen, “Gradient-based online safe trajectory generation for quadrotor flight in complex environments,” in Proc. of the IEEE/RSJ Intl. Conf. on Intell. Robots and Syst.(IROS) , Sept 2017, pp. 3681–3688
2017
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V. Usenko, L. von Stumberg, A. Pangercic, and D. Cremers, “Real-time trajectory replanning for mavs using uniform b-splines and a 3d circular buffer,” in Proc. of the IEEE/RSJ Intl. Conf. on Intell. Robots and Syst.(IROS) , 2017, pp. 215–222
2017
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2018
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F. Gao, W. Wu, Y. Lin, and S. Shen, “Online safe trajectory generation for quadrotors using fast marching method and bernstein basis polynomial,” in Proc. of the IEEE Intl. Conf. on Robot. and Autom. (ICRA) , Brisbane, Australia, May 2018
2018
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2015
Cited alongside, same era.
M. Paton, K. MacTavish, C. J. Ostafew, and T. D. Barfoot, “It’s not easy seeing green: Lighting-resistant stereo visual teach & repeat using color-constant images,” in Proc. of the IEEE Intl. Conf. on Robot. and Autom. (ICRA) , 2015, pp. 1519–1526
2015
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R. Deits and R. Tedrake, “Computing large convex regions of obstacle-free space through semidefinite programming,” in Algorithmic Foundations of Robotics XI . Springer, 2015, vol. 107, pp. 109–124
2015
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S. J. Wright, “Coordinate descent algorithms,” Mathematical Programming , vol. 151, no. 1, pp. 3–34, 2015
2015
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M. Klingensmith, I. Dryanovski, S. Srinivasa, and J. Xiao, “Chisel: Real time large scale 3d reconstruction onboard a mobile device using spatially hashed signed distance fields.” in Proc. of Robot.: Sci. and Syst. (RSS) , 2015
2015
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Z. Zhu, E. Schmerling, and M. Pavone, “A convex optimization approach to smooth trajectories for motion planning with car-like robots,” in Proc. of the IEEE Control and Decision Conf. (CDC) , 2015, pp. 835–842
2015
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L.-P. Berczi and T. D. Barfoot, “It’s like déjà vu all over again: Learning place-dependent terrain assessment for visual teach and repeat,” in Proc. of the IEEE/RSJ Intl. Conf. on Intell. Robots and Syst.(IROS) , 2016, pp. 3973–3980
2016
Cited alongside, same era.
F. Gao and S. Shen, “Online quadrotor trajectory generation and autonomous navigation on point clouds,” in Proc. of the IEEE Intl. Sym. on Safety, Security, and Rescue Robotics (SSRR) , lausanne, switzerland, 2016, pp. 139–146
2016
Cited alongside, same era.
H. Oleynikova, M. Burri, Z. Taylor, J. Nieto, R. Siegwart, and E. Galceran, “Continuous-time trajectory optimization for online uav replanning,” in Proc. of the IEEE/RSJ Intl. Conf. on Intell. Robots and Syst.(IROS) , Daejeon, Korea, Oct. 2016, pp. 5332–5339
2016
Cited alongside, same era.
Later among the works it cites.
F. Gao, W. Wu, W. Gao, and S. Shen, “Flying on point clouds: Online trajectory generation and autonomous navigation for quadrotors in cluttered environments,” Journal of Field Robotics , 2018
2018
Later among the works it cites.
Y. Lin, F. Gao, T. Qin, W. Gao, T. Liu, W. Wu, and S. Shen, “Autonomous aerial navigation using monocular visual-inertial fusion,” Journal of Field Robotics , vol. 35, no. 1, pp. 23–51, 2018
2018
Later among the works it cites.
H. Pham and Q.-C. Pham, “A new approach to time-optimal path parameterization based on reachability analysis,” IEEE Transactions on Robotics , vol. 34, no. 3, pp. 645–659, 2018
2018
Later among the works it cites.
T. Qin, P. Li, and S. Shen, “Vins-mono: A robust and versatile monocular visual-inertial state estimator,” IEEE Transactions on Robotics , vol. 34, no. 4, pp. 1004–1020, 2018
2018
Later among the works it cites.
F. Blochliger, M. Fehr, M. Dymczyk, T. Schneider, and R. Siegwart, “Topomap: Topological mapping and navigation based on visual slam maps,” in Proc. of the IEEE Intl. Conf. on Robot. and Autom. (ICRA) , 2018, pp. 1–9
2018
Later among the works it cites.
F. Gao, W. Wu, J. Pan, B. Zhou, and S. Shen, “Optimal time allocation for quadrotor trajectory generation,” in Proc. of the IEEE/RSJ Intl. Conf. on Intell. Robots and Syst.(IROS) , Madrid, Spain, Oct 2018
2018
Later among the works it cites.
F. Gao, L. Wang, K. Wang, W. Wu, B. Zhou, L. Han, and S. Shen, “Optimal trajectory generation for quadrotor teach-and-repeat,” IEEE Robotics and Automation Letters (RA-L) , 2019
2019
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2019
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B. Zhou, F. Gao, L. Wang, C. Liu, and S. Shen, “Robust and efficient quadrotor trajectory generation for fast autonomous flight,” IEEE Robotics and Automation Letters (RA-L) , 2019
2019
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2019
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K. Wang, F. Gao, and S. Shen, “Real-time scalable dense surfel mapping,” in Proc. of the IEEE Intl. Conf. on Robot. and Autom. (ICRA) , 2019
2019
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