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The contribution of this paper is the application of compound state-triggeredconstraints (STCs) to real-time quad-rotor path planning. Originally developedfor rocket landing applications, STCs are made up of a trigger condition and aconstraint condition that are arranged such that satisfaction of the formerimplies satisfaction of the latter. Compound STCs go a step further by allowingmultiple trigger and constraint conditions to be combined via Boolean "and" or"or" operations. The logical implications embodied by STCs can be formulatedusing continuous variables, and thus enable the incorporation of discretedecision making into a continuous optimization framework. In this paper,compound STCs are used to solve quad-rotor path planning problems that wouldtypically require the use of computationally expensive mixed-integerprogramming techniques. Two scenarios are considered: (1) a quad-rotor flyingthrough a hoop, and (2) a pair of quad-rotors carrying a beam-like payloadthrough an obstacle course. Successive convexification is used to solve theresulting non-convex optimization problem. Monte-Carlo simulation results showthat our approach can reliably generate trajectories at rates upwards of 3 and1.5 Hz for the first and second scenarios, respectively.

Real-Time Quad-Rotor Path Planning Using Convex Optimization and Compound State-Triggered Constraints