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The Quadrotor - an underactuated aerial vehicle

This directory contains models and a plant for a Quadrotor.

You can try out sample programs; each has its own overview atop the file:

  • run_quadrotor_dynamics
  • run_quadrotor_lpr

Historical note: IRIS mixed-integer convex planning

Prior to 2016, Drake was built around a substantial base of MATLAB software. Most of that was removed from the head of git master during 2017.

To view or use the original MATLAB implementation of the Quadrotor you may use this tag:

https://github.com/RobotLocomotion/drake/tree/last_sha_with_original_matlab/drake/examples/Quadrotor

In particular, the IRIS mixed-integer convex planning examples have not yet been re-implemented in the new framework (Drake issue #6243). To view that algorithm and example, you'll need to consult the above link.