Why Change Your Controller When You Can Change Your Planner: Drag-Aware Trajectory Generation for Quadrotor Systems

1 code implementation • 10 Jan 2024 • Hanli Zhang, Anusha Srikanthan, Spencer Folk, Vijay Kumar, Nikolai Matni

In this paper, we argue that adapting the trajectory generation component keeping the controller fixed can improve trajectory tracking for quadrotor systems experiencing drag forces.