PTR
Penalized Trust Region method for minimum time of flight
This is a python implementation of Chapter Convexification and Real-Time On-Board Optimization for Agile Quad-Rotor Maneuvering and Obstacle Avoidance by Miki Szmuk. The animation on the left is obstacle avoidance using 3dof quadrotor model. The animation on the right is using 6dof quadrotor model with line-of-sight constraint.