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Continuous-time trajectory optimization for online UAV replanning
Open accessAbstract
Multirotor unmanned aerial vehicles (UAVs) are rapidly gaining popularity for many applications. However, safe operation in partially unknown, unstructured environments remains an open question. In this paper, we present a continuous-time trajectory optimization method for real-time collision avoidance on multirotor UAVs. We then propose a system where this motion planning method is used as a local replanner, that runs at a high rate to continuously recompute safe trajectories as the robot gains information about its environment. We validate our approach by comparing against existing methods and demonstrate the complete system avoiding obstacles on a multirotor UAV platform.
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Cited by
Robust and Efficient Quadrotor Trajectory Generation for Fast Autonomous Flight
Zhou, B., Gao, F., Wang, L., Liu, C., & Shen, S. (2019) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2019.2927938 · Cited by 747
Swarm of micro flying robots in the wild
Zhou, X., Wen, X., Wang, Z., Gao, Y., Li, H., Wang, Q., Yang, T., Lu, H., Cao, Y., Xu, C., et al. (2022) · Science Robotics · doi:10.1126/scirobotics.abm5954 · Cited by 657
Kulathunga, G., Hamed, H., Devitt, D., & Klimchik, A. (2022) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2022.3151157 · Cited by 19
Metadata
- Authors
- Oleynikova, H., Burri, M., Taylor, Z., Nieto, J., Siegwart, R., & Galceran, E.
- Venue
- 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
- Publisher
- IEEE
- Published
- 2016-10
- Pages
- 5332-5339
- OpenAlex
- W4255045719
- Cited by
- 273
- References
- 0
- FWCI
- 7.05
- Type
- conference paper
- Language
- en
- Open access
- green
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- CoChat. (2026). Citation check: Continuous-time trajectory optimization for online UAV replanning. https://app.cochat.ai/papers/10.1109/iros.2016.7759784
- The paper
- Oleynikova, H., Burri, M., Taylor, Z., Nieto, J., Siegwart, R., & Galceran, E. (2016). Continuous-time trajectory optimization for online UAV replanning. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). https://doi.org/10.1109/iros.2016.7759784
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
