RealTime QuadRotor Path Planning Using Convex Optimization and Compound StateTriggered Constraints The contribution of this paper is the application of compound statetriggered constraints (STCs) to realtime quadrotor path planning. Originally developed for rocket landing applications, STCs are made up of a trigger condition and a constraint condition that are arranged such that satisfaction of the former implies satisfaction of the latter. Compound STCs go a step further by allowing multiple trigger and constraint conditions to be combined via Boolean xe2x80x9candxe2x80x9d or xe2x80x9corxe2x80x9d operations. The logical implications embodied by STCs can be formulated using continuous variables, and thus enable the incorporation of discrete decision making into a continuous optimization framework. In this paper, compound STCs are used to solve quadrotor path planning problems that would typically require the use of computationally expensive mixedinteger programming techniques. Two scenarios are considered: (1) a quadrotor flying through a hoop, and (2) a pair of quadrotors carrying a beamlike payload through an obstacle course. Successive convexification is used to solve the resulting nonconvex optimization problem. MonteCarlo simulation results show that our approach can reliably generate trajectories at rates upwards of 3 and 1.5 Hz for the first and second scenarios, respectively.

Fast Trajectory Planning for Multiple Quadrotors using Relative Safe Flight Corridor This paper presents a new trajectory planning method for multiple quadrotors in obstacledense environments. We suggest a relative safe flight corridor (RSFC) to model safe region between a pair of agents, and it is used to generate linear constraints for intercollision avoidance by utilizing the convex hull property of relative Bernstein polynomial. Our approach employs a graphbased multiagent pathfinding algorithm to generate an initial trajectory, which is used to construct a safe flight corridor (SFC) and RSFC. We express the trajectory as a piecewise Bernstein polynomial and formulate the trajectory planning problem into one quadratic programming problem using linear constraints from SFC and RSFC. The proposed method can compute collisionfree trajectory for 16 agents within a second and for 64 agents less than a minute, and it is validated both through simulation and indoor flight test.