Online Safe Trajectory Generation For QuadrotorsUsing Fast Marching Method and Bernstein Basis Polyn

在線狀態估計和環境感知，基於Fast Marching在速度場的路徑搜索，利用Euclidean signed distance field(ESDF)優化軌跡時間分配，使用飛行走廊（flight corridor）來壁障，利用貝賽爾曲線生成有界高階的軌跡，構造凸規劃 FAST MARCHING-BASED PATH SEARCHING Fast Marching Method Fast Marc

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