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Planning time-optimal trajectories for quadrotors in cluttered environmentsis a challenging, non-convex problem. This paper addresses minimizing thetraversal time of a given collision-free geometric path without violatingbounds on individual motor thrusts of the vehicle. Previous approaches haveeither relied on convex relaxations that do not guarantee dynamic feasibility,or have generated overly conservative time parametrizations. We proposeTOPPQuad, a time-optimal path parameterization algorithm for quadrotors whichexplicitly incorporates quadrotor rigid body dynamics and constraints such asbounds on inputs (including motor speeds) and state of the vehicle (includingthe pose, linear and angular velocity and acceleration). We demonstrate theability of the planner to generate faster trajectories that respect hardwareconstraints of the robot compared to several planners with relaxed notions ofdynamic feasibility. We also demonstrate how TOPPQuad can be used to plantrajectories for quadrotors that utilize bidirectional motors. Overall, theproposed approach paves a way towards maximizing the efficacy of autonomousmicro aerial vehicles while ensuring their safety.

TOPPQuad: Dynamically-Feasible Time Optimal Path Parametrization for Quadrotors