This is an example implementation of the paper "Time-Optimal Planning for Quadrotor Waypoint Flight" by Philipp Foehn, Angel Romero, Davide Scaramuzza
published in Science Robotics, Volume 6, Issue 56, 2021.
Check out the video, the paper, and follow the instructions below.
If you use this code in an academic context, please cite the following Science Robotics 2021 paper.
Philipp Foehn, Angel Romero, Davide Scaramuzza, "Time-Optimal Planning for Quadrotor Waypoint Flight," 2021, Science Robotics, Volume 6, Issue 56, DOI: 10.1126/scirobotics.abh1221
Bibtex:
@article {foehn2021CPC,
author = {Foehn, Philipp and Romero, Angel and Scaramuzza, Davide},
title = {Time-Optimal Planning for Quadrotor Waypoint Flight},
volume = {6},
number = {56},
elocation-id = {eabh1221},
year = {2021},
doi = {10.1126/scirobotics.abh1221},
publisher = {Science Robotics},
URL = {https://robotics.sciencemag.org/content/6/56/eabh1221},
eprint = {https://robotics.sciencemag.org/content/6/56/eabh1221.full.pdf},
journal = {Science Robotics}
}
git clone git@github.com:uzh-rpg/rpg_time_optimal.git
.cd rpg_time_optimal
.pip3 install -r requirements.txt
pip install casadi
.python3 example/optimization.py
.python3 example/plotting.py
.This will create output .csv
files with the trajectory and some .pdf
visualizing the result.