Deferred Decision Trajectory Optimization

Quadrotor motion planning examples

ddto-micp

• discrete-time linear system (3D double integrator)
• convex path constraints: thrust pointing, thrust upper bound and lower bound (convexified)

ddto-qcvx

• discrete-time linear system (3D double integrator)
• convex path constraints: thrust pointing, thrust upper bound and lower bound (convexified)

ddto-scp

• continuous-time nonlinear system (3D double integrator with drag)
• nonconvex path constraints: obstacle avoidance, speed upper bound, thrust pointing, thrust upper and lower bound