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Detailed Proofs of Alternating Minimization Based Trajectory Generation for Quadrotor Aggressive Flight
Zhepei Wang, Xin Zhou, Chao Xu, Fei Gao
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This technical report provides detailed theoretical analysis of the algorithm used in \textit{Alternating Minimization Based Trajectory Generation for Quadrotor Aggressive Flight}. An assumption is provided to ensure that settings for the objective function are meaningful. What's more, we explore the structure of the optimization problem and analyze the global/local convergence rate of the employed algorithm.
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