A computationally efficient algorithm for state-to-state quadrocopter trajectory generation and feasibility verification

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Deep Drone Racing: Learning Agile Flight in Dynamic Environments (2018, methodology): “This makes it extremely difficult to fully exploit the properties of popular minimum-snap or minimum-jerk trajectories [19, 20] for small, agile quadrotors using only onboard sensing and computing.”
Aerodynamics and Control of Quadrotors (2017, background): “Mueller et al. [2013] generated multiple minimum jerk trajectories without consideration of the dynamic constraints of quadrotors.”