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Kinodynamic Trajectory Planner

Spline-based, minimum time, constant snap trajectory generator. It applies to any robot with decoupled dynamics (or differencially flat).

Whitepaper: Alexandre Boeuf, Juan Cortes, Rachid Alami, Thierry Simeon. Enhancing sampling-based kinodynamic motion planning for quadrotors. IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2015, Hamburg, Germany. 2015.

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