Before revision:  We present the first local, optimization-based UAV-trajectory generator that simultaneously guarantees  validity and asymptotic optimality . Validity: Given a feasible initial guess, our algorithm guarantees the satisfaction of all constraints throughout the process of optimization.
After revision:  We present the first local, optimization-based UAV-trajectory generator that simultaneously guarantees validity and asymptotic optimality for known environments. Given a feasible initial guess, our algorithm guarantees the satisfaction of all constraints throughout the process of optimization.