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Subsequently, a minimum-snap and position-clearance polynomial trajectory problem is transformed into an unconstrained quadratic programming and solved in a two-step optimization. Finally, comparisons with other methods based on statistical simulations are implemented. The results show that the proposed method achieves computational efficiency and a safe trajectory.<\/jats:p>","DOI":"10.1017\/s0263574720000387","type":"journal-article","created":{"date-parts":[[2020,6,19]],"date-time":"2020-06-19T09:32:12Z","timestamp":1592559132000},"page":"317-333","source":"Crossref","is-referenced-by-count":4,"title":["Efficient and Safe Motion Planning for Quadrotors Based on Unconstrained Quadratic Programming"],"prefix":"10.1017","volume":"39","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7510-1234","authenticated-orcid":false,"given":"Yanhui","family":"Li","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7953-5144","authenticated-orcid":false,"given":"Chao","family":"Liu","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2020,6,19]]},"reference":[{"key":"S0263574720000387_ref28","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21842"},{"key":"S0263574720000387_ref17","doi-asserted-by":"crossref","first-page":"72","DOI":"10.1016\/S1672-6529(14)60021-4","article-title":"Bioinspired 4D trajectory generation for a UAS rapid point-to-point movement,","volume":"11","author":"Zhen","year":"2014","journal-title":"J. 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Geraerts, R. , \u201cPlanning Short Paths with Clearance Using Explicit Corridors,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (2010) pp. 1997\u20132004."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574720000387","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,1,25]],"date-time":"2021-01-25T13:03:41Z","timestamp":1611579821000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574720000387\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,6,19]]},"references-count":36,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2021,2]]}},"alternative-id":["S0263574720000387"],"URL":"https:\/\/doi.org\/10.1017\/s0263574720000387","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2020,6,19]]}}}