ZJU-FAST-Lab/GCOPTER

Health v2 · maintenance only

Flags: no_releases

Adoption not part of the score

1288 stars · 212 forks observed · 2026-08-28

What it is AI-extracted, prompt v1, taxonomy v1, 2026-08-30, confidence not recorded

GCOPTER is a general-purpose trajectory optimizer for multicopters built on the sparse MINCO trajectory representation. It supports user-defined state-input constraints including nonlinear drag effects and safe flight corridor generation for quadrotor navigation.

Use cases

• optimize smooth trajectories for quadrotor flight through obstacle fields
• generate safe flight corridors for drone navigation
• plan kinodynamic multicopter trajectories with dynamic constraints
• model quadcopter dynamics with nonlinear drag effects
• research trajectory optimization for aerial robots
• compute minimum-jerk or minimum-snap drone paths

When to choose

• you need efficient, real-time trajectory optimization for multicopters
• you want geometrically constrained planning with safe flight corridors
• you are doing academic research on drone motion planning and want a cited, published method

When to avoid

• you need trajectory planning for ground vehicles or manipulators rather than multicopters
• you need a turnkey drone autopilot rather than a planning library
• you require a mature production system with extensive examples and long-term support

Facets

library · maturity active

simulation robotics math robotics autonomous-vehicles cpp trajectory-optimization motion-planning quadrotor multicopter minco safe-flight-corridor kinodynamic-planning ros optimization algorithms research linux

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markdown · JSON · MCP: product_card(name="ZJU-FAST-Lab/GCOPTER")