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The recent works on quadrotor have focused on more and more challenging taskson increasingly complex systems. Systems are often augmented with slung loads,inverted pendulums or arms, and accomplish complex tasks such as going througha window, grasping, throwing or catching. Usually, controllers are designed toaccomplish a specific task on a specific system using analytic solutions, soeach application needs long preparations. On the other hand, the directmultiple shooting approach is able to solve complex problems without anyanalytic development, by using on-the-shelf optimization solver. In this paper,we show that this approach is able to solve a wide range of problems relevantto quadrotor systems, from on-line trajectory generation for quadrotors, togoing through a window for a quadrotor-and-pendulum system, throughmanipulation tasks for a aerial manipulator.

Trajectory Generation for Quadrotor Based Systems using Numerical Optimal Control