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In this paper we present a novel strategy to compute minimum-timetrajectories for quadrotors. In particular, we consider the motion inconstrained environments, taking into account the physical limitations of thevehicle. Instead of approaching the optimization problem in its standardtime-parameterized formulation, the proposed strategy is based on an appealingre-formulation. Transverse coordinates, expressing the distance from a"reference" path, are used to parameterize the vehicle position and a spatialparameter is used as independent variable. This re-formulation allows us to (i)obtain a fixed horizon problem and (ii) easily formulate (even complex)position constraints. The effectiveness of the proposed strategy is proven bynumerical computations on two different illustrative scenarios.

Computing minimum-time trajectories for quadrotors via transverse coordinates