# ZJU-FAST-Lab/GCOPTER

A General-Purpose Trajectory Optimizer for Multicopters

Repository: https://github.com/ZJU-FAST-Lab/GCOPTER
Canonical: https://ross.abutalabs.com/products/gcopter
Language: C++
License: MIT
License Family: permissive
Topics: quadrotor, trajectory-optimization, motion-planning, navigation, multicopter, minco, corridor, corridors, safe-flight-corridors
Last push: 2023-10-15T14:18:13+00:00

## Health v2 (maintenance only)
Score: 32/100 (v2, computed 2026-09-02T17:46:02.011165+00:00)
- activity 0, release rhythm 35, longevity 100
- inputs: {"age_days": 2010, "days_push": 1053, "days_rel": null, "gap_med": null, "n_releases_24m": 0}
- flags: no_releases
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 1288, forks 212 (observed 2026-08-28T04:04:15.113077+00:00)

## What it is
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
- artifact type: library
- maturity: active
- function: simulation, robotics, math
- domain: robotics, autonomous-vehicles
- platform: cpp
- tags: trajectory-optimization, motion-planning, quadrotor, multicopter, minco, safe-flight-corridor, kinodynamic-planning, ros, optimization, algorithms, research, linux

## Member repositories
- ZJU-FAST-Lab/GCOPTER (main) score 32

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:04:15.113077+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-30T04:55:48.002777+00:00, confidence not recorded.
  - readme: https://github.com/ZJU-FAST-Lab/GCOPTER (fetched 2026-08-28T04:04:15.113077+00:00, sha fadde94cea03)
- Data as of 2026-08-30T08:39:29.467469+00:00.