Minimum snap trajectory

The .m file implements minimim snap trajectory generation that was first proposed by the seminal paper :

D. Mellinger and V. Kumar, “Minimum snap trajectory generation and control for quadrotors,” in 2011 IEEE International Conference on Robotics and Automation, pp. 2520–2525, 2011.

Aggressive quadrotor tracking control

The Simulink file implements the entire cascaded incremental dynamic inversion framework proposed in the following paper:

E. Tal and S. Karaman, “Accurate tracking of aggressive quadrotor trajectories using incremental nonlinear dynamic inversion and differ- ential flatness,” IEEE Transactions on Control Systems Technology, vol. 29, no. 3, pp. 1203–1218, 2021

Note that due to the complexity in modeling a real UAV with ESCs, motors, sensors, we leave the UAV block incomplete in the motor control component. However, everything else in our Simulink model is a precise implementation of the architecture proposed in the paper above.