# Reactive Trajectory Generation in an Unknown Environment

arXiv: https://arxiv.org/abs/1703.00461 · HTML: https://mlsanity.com/paper/1703.00461/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 1 Mar 2017.

## Built on by (most cited first, 1 of 1)

- [Goal-conditioned dual-action imitation learning for dexterous dual-arm robot manipulation](https://mlsanity.com/paper/2203.09749/) (2022)

## Abstract (arXiv)

Autonomous trajectory generation for unmanned aerial vehicles (UAVs) in unknown environments continues to be an important research area as UAVs become more prolific. We define a trajectory generation algorithm for a vehicle in an unknown environment with wind disturbances, that relies only on the vehicle's on-board distance sensors and communication with other vehicles within a finite region to generate a smooth, collision-free trajectory up to the fourth derivative. The proposed trajectory generation algorithm can be used in conjunction with high-level planners and low-level motion controllers. The algorithm provides guarantees that the trajectory does not violate the vehicle's thrust limitation, sensor constraints, or a user-defined clearance radius around other vehicles and obstacles. Simulation results of a quadrotor moving through an unknown environment with a moving obstacle demonstrates the trajectory generation performance.