Research paper
Online trajectories · Flight corridors and Bézier bounds
Fast marching on an ESDF-derived velocity field finds paths that are inflated into flight corridors. Bernstein-based Bézier trajectories bound position and higher-order dynamics, evaluated in indoor and outdoor quadrotor navigation.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- Online Safe Trajectory Generation for Quadrotors Using Fast Marching Method and Bernstein Basis Polynomial
- Publisher
- IEEE
- Authors
- Fei Gao, William Wu, Yi Lin, Shaojie Shen
- DOI
- 10.1109/icra.2018.8462878
- Publication date
- 2018-05
- Source language
- en
- Edition
- 2018 IEEE International Conference on Robotics and Automation (ICRA); 2018-05; DOI 10.1109/icra.2018.8462878
- Access
- Publisher abstract · restricted full text
- Publication status
- Published
Related resources and engineering notes
Source overview
Fast marching on an ESDF-derived velocity field finds paths that are inflated into flight corridors. Bernstein-based Bézier trajectories bound position and higher-order dynamics, evaluated in indoor and outdoor quadrotor navigation.
Use and review
Publisher abstract and bibliography checked. Corridor-constrained trajectories do not replace validation of mapping, estimation, tracking or changing obstacles.
Sources & editions
Online Safe Trajectory Generation for Quadrotors Using Fast Marching Method and Bernstein Basis Polynomial ↗
IEEE · 2018 IEEE International Conference on Robotics and Automation (ICRA); 2018-05; DOI 10.1109/icra.2018.8462878
ICRA2018 original IEEE abstract https://ieeexplore.ieee.org/document/8462878/; date added to Xplore2018-09-13 is separate from proceedings date.