Overview
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.