Minimum snap trajectory generation and control for quadrotors

@article{Mellinger2011MinimumST,
  title={Minimum snap trajectory generation and control for quadrotors},
  author={Daniel Mellinger and Vijay R. Kumar},
  journal={2011 IEEE International Conference on Robotics and Automation},
  year={2011},
  pages={2520-2525}
}
We address the controller design and the trajectory generation for a quadrotor maneuvering in three dimensions in a tightly constrained setting typical of indoor environments. In such settings, it is necessary to allow for significant excursions of the attitude from the hover state and small angle approximations cannot be justified for the roll and pitch. We develop an algorithm that enables the real-time generation of optimal trajectories through a sequence of 3-D positions and yaw angles… 

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