Controller

[engcang]

Hi.
Firstly, I really appreciate for sharing your great works.
I wonder which controller you used for tracking planned trajectory accurately.
I looked into some of your lab's papers mentioning MINCO but couldn't find which controller you used for real-world drones.
Even though the trajectory planned is dynamics-awared, I believe that controller should be also very accurate and fast, with feedback of course.

I also wonder when you are planning to provide further example codes, especially for the ball-shaped corridor safety constraints!

Thank you in advance.

[chenhanpolyu]

you can check this link and find the controller in it.
I think a ball-shaped corridor is too conservative to extract the free space, and polygons are better.