Convex SOCP planning via flatness and B-splines plus always-feasible CBF QP tracking for continuous-time safe quadcopter flight, validated on Crazyflie hardware.
Effective angular constrained trajectory generation for thrust-propelled vehicles
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Flatness-based Quadcopter Trajectory Planning and Tracking with Continuous-time Safety Guarantees
Convex SOCP planning via flatness and B-splines plus always-feasible CBF QP tracking for continuous-time safe quadcopter flight, validated on Crazyflie hardware.