Generating Large-Scale Trajectories Efficiently using Double Descriptions of Polynomials
Zhepei Wang Hongkai Ye Chao Xu Fei Gao Zhepei Wang Hongkai Ye Chao Xu Fei Gao
For quadrotor trajectory planning, describing a polynomial trajectory through coefficients and end-derivatives both enjoy their own convenience in energy minimization. We name them double descriptions of polynomial trajectories. The transformation between them, causing most of the inefficiency and instability, is formally analyzed in this paper. Leveraging its analytic structure, we design a linea...