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drone_racing_gpops

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# Optimal Control for UAVs using GPOPS-II  #

Author: Jesus Tordesillas

This repo has the code to solve the optimal control problem to obtain a trajectory for a quadrotor passing through several predefined gates. A description of the approach can be found [here](https://dspace.mit.edu/handle/1721.1/122420):

A video is available [here](https://www.youtube.com/watch?v=-YY_0Ib-o_4):

[![Optimal Path Planning for a UAV using GPOPS-II](https://raw.githubusercontent.com/jtorde/drone_racing_gpops/master/imgs/racing.gif)](https://www.youtube.com/watch?v=-YY_0Ib-o_4 "Optimal Path Planning for a UAV using GPOPS-II")

## Citation
When using this code, please cite the following thesis ([pdf](https://dspace.mit.edu/handle/1721.1/122420)):

```bibtex
@mastersthesis{tordesillas2019trajectory,
  title={Trajectory planner for agile flights in unknown environments},
  author={Tordesillas Torres, Jesus},
  year={2019},
  school={Massachusetts Institute of Technology}
}
```

## Instructions:
Install [GPOPS-II](http://www.gpops2.com/). Then clone this repository:
```
git clone https://github.com/jtorde/drone_racing_gpops
```
and execute the file `src/main.m` in MATLAB

## License
BSD 3-Clause, see License file attached

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