mlsanityData to 14 Oct 2026

Robust and Efficient Quadrotor Trajectory Generation for Fast Autonomous Flight

arXiv 1907.01531 ↗First posted 2 Jul 2019cs.ROcited by 41

Not on the map. Why?

Abstract (arXiv)

In this paper, we propose a robust and efficient quadrotor motion planning system for fast flight in 3-D complex environments. We adopt a kinodynamic path searching method to find a safe, kinodynamic feasible and minimum-time initial trajectory in the discretized control space. We improve the smoothness and clearance of the trajectory by a B-spline optimization, which incorporates gradient information from a Euclidean distance field (EDF) and dynamic constraints efficiently utilizing the convex hull property of B-spline. Finally, by representing the final trajectory as a non-uniform B-spline, an iterative time adjustment method is adopted to guarantee dynamically feasible and non-conservative trajectories. We validate our proposed method in various complex simulational environments. The competence of the method is also validated in challenging real-world tasks. We release our code as an open-source package.

Key facts. Cited by 41 papers in the map (data through 14 Oct 2026). First posted on arXiv 2 Jul 2019.

Builds on

No reference list yet.

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2021: 7; 2022: 4; 2023: 3; 2024: 5; 2025: 14; 2026: 8.

41 papers.

Sort:

By area:

  1. 2021Learning High-Speed Flight in the Wildcited by 128
  2. 2021Autonomous Drone Racing with Deep Reinforcement Learningcited by 60
  3. 2025Openfly: A comprehensive platform for aerial vision-language navigationcited by 46
  4. 2025What Is The Best 3D Scene Representation for Robotics? From Geometric to Foundation Modelscited by 29
  5. 2021Time-Optimal Planning for Quadrotor Waypoint Flightcited by 23
  6. 2022Learning Perception-Aware Agile Flight in Cluttered Environmentscited by 23
  7. 2025VLA-AN: An Efficient and Onboard Vision-Language-Action Framework for Aerial Navigation in Complex Environmentscited by 23
  8. 2021Policy Search for Model Predictive Control with Application to Agile Drone Flightcited by 20
  9. 2022Reducing Collision Checking for Sampling-Based Motion Planning Using Graph Neural Networkscited by 17
  10. 2022Real-Time Trajectory Planning for Autonomous Driving with Gaussian Process and Incremental Refinementcited by 14
  11. 2024Learning Speed Adaptation for Flight in Cluttercited by 14
  12. 2024Vision Transformers for End-to-End Vision-Based Quadrotor Obstacle Avoidancecited by 14
29 more
  1. 2023A Safer Vision-based Autonomous Planning System for Quadrotor UAVs with Dynamic Obstacle Trajectory Prediction and Its Application with LLMscited by 13
  2. 2023Vision-based Learning for Drones: A Surveycited by 11
  3. 2022Vision-aided UAV navigation and dynamic obstacle avoidance using gradient-based B-spline trajectory optimizationcited by 9
  4. 2023Learning Multi-Pursuit Evasion for Safe Targeted Navigation of Dronescited by 9
  5. 2024VisFly: An Efficient and Versatile Simulator for Training Vision-based Flightcited by 7
  6. 2025Flying on Point Clouds with Reinforcement Learningcited by 7
  7. 2021Connecting Deep-Reinforcement-Learning-based Obstacle Avoidance with Conventional Global Planners using Waypoint Generatorscited by 6
  8. 2026AirHunt: Bridging VLM Semantics and Continuous Planning for Efficient Aerial Object Navigationcited by 4
  9. 2025FM-Planner: Foundation Model Guided Path Planning for Autonomous Drone Navigationcited by 3
  10. 2025SEA: Semantic Map Prediction for Active Exploration of Uncertain Areascited by 2
  11. 2026Fly360: Omnidirectional Obstacle Avoidance within Drone Viewcited by 2
  12. 2025A Reactive Framework for Whole-Body Motion Planning of Mobile Manipulators Combining Reinforcement Learning and SDF-Constrained Quadratic Programmicited by 1
  13. 2025Casual3DHDR: Deblurring High Dynamic Range 3D Gaussian Splatting from Casually Captured Videoscited by 1
  14. 2026High-Speed Vision-Based Flight in Clutter with Safety-Shielded Reinforcement Learningcited by 1
  15. 2026Approximate Imitation Learning for Event-based Quadrotor Flight in Cluttered Environmentscited by 1
  16. 2026NavRL++: A System-Level Framework for Improving Sim-to-Real Transfer in Reinforcement Learning-Based Robot Navigationcited by 1
  17. 2026From Distances to Trajectories: Real-Time Signed Distance Function Mapping and Distance-Accelerated Motion Planning for UAVscited by 1
  18. 2021Identification and Avoidance of Static and Dynamic Obstacles on Point Cloud for UAVs Navigationcited by 0
  19. 2021Advanced Algorithms of Collision Free Navigation and Flocking for Autonomous UAVscited by 0
  20. 2024Research on an Autonomous UAV Search and Rescue System Based on the Improvedcited by 0
  21. 2024RESC: A Reinforcement Learning Based Search-to-Control Framework for Quadrotor Local Planning in Dense Environmentscited by 0
  22. 2025A Real-time Spatio-Temporal Trajectory Planner for Autonomous Vehicles with Semantic Graph Optimizationcited by 0
  23. 2025ExploreGS: a vision-based low overhead framework for 3D scene reconstructioncited by 0
  24. 2025Unified Linear Parametric Map Modeling and Perception-aware Trajectory Planning for Mobile Roboticscited by 0
  25. 2025Decision Transformer-Based Drone Trajectory Planning with Dynamic Safety-Efficiency Trade-Offscited by 0
  26. 2025Fast Trajectory Planner with a Reinforcement Learning-based Controller for Robotic Manipulatorscited by 0
  27. 2025PAD-TRO: Projection-Augmented Diffusion for Direct Trajectory Optimizationcited by 0
  28. 2026Neural-Primitive: An Efficient End-to-end Local Planner with Primitive-based Imitation Learning for Autonomous Flightcited by 0
  29. 2026ClearNav: Perception-Aligned Quadrotor Flight Using Differential-Physicscited by 0