GCOPTER is an efficient and versatile multicopter trajectory optimizer built upon a novel sparse trajectory representation named MINCO.

• To be open-sourced.

Author: Zhepei Wang and Fei Gao from ZJU FAST Lab.

Related Paper:

Geometrically Constrained Trajectory Optimization for Multicopters, Zhepei Wang, Xin Zhou, Chao Xu, and Fei Gao, Under Review.

@article{WANG2021GCOPTER,
    title={Geometrically Constrained Trajectory Optimization for Multicopters},
    author={Wang, Zhepei and Zhou, Xin and Xu, Chao and Gao, Fei},
    journal={arXiv preprint arXiv:2103.00190},
    year={2021}
}

• Robust Real-Time SE(3) Planning: youtube or bilibili. (Reported by IEEE Spectrum Website!)

• Multicopter Swarms Planning: youtube or bilibili. (Also Reported by IEEE Spectrum Website!)

• Long-Distance Drone Racing Planning: youtube or bilibili.

• More applications powered by GCOPTER will be listed here.

• SDLP: Seidel's Algorithm on Linear-Complexity Linear Programming for Computational Geometry.
• VertexEnumeration3D: Highly Efficient Vertex Enumeration for 3D Convex Polytopes (Outperforms cddlib in 3D).
• LBFGS-Lite: An Easy-to-Use Header-Only L-BFGS Solver.