Research Article
An Optimization Problem for Quadcopter Reference Flight Trajectory Generation
| Constraint types | Constraints | Constraint ranges |
| Workspace | Longitudinal displacement (m) | | Lateral displacement (m) | | Altitude (m) | | Roll angle (rad) | | Pitch angle (rad) | | Yaw angle (rad) | | Flight envelope | Height (m) | | Yaw rate (rad/s) | | Airspeed (m/s) | | Actuators | Maximum rotor velocity (rad/s) | |
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