Detailed Proofs of Alternating Minimization Based Trajectory Generation for Quadrotor Aggressive Flight
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Publication:6335293
arXiv2002.09254MaRDI QIDQ6335293FDOQ6335293
Authors: Zhepei Wang, Xin Zhou, Chao Xu, Fei Gao 
Publication date: 21 February 2020
Abstract: This technical report provides detailed theoretical analysis of the algorithm used in extit{Alternating Minimization Based Trajectory Generation for Quadrotor Aggressive Flight}. An assumption is provided to ensure that settings for the objective function are meaningful. What's more, we explore the structure of the optimization problem and analyze the global/local convergence rate of the employed algorithm.
Has companion code repository: https://github.com/ZJU-FAST-Lab/am_traj
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