In this project, we update trajectories planned using sequential convex programming using sensitivity analysis for real-time modification of trajectories for drones on a tablet interface. We consider modifications to the KKT conditions considering active constraints. This work is in collaboration with Skye McEowen and Behcet Ackimese through the ACL Lab at the University of Washington in Seattle.

• Paper: Mceowen, S., Sullivan, D., Calderone, D., Szmuk, M., Sheridan, O., Açıkmeşe, B. and Chasnov, B., 2022, March. Visual Modeling System for Optimization-Based Real-Time Trajectory Planning for Autonomous Aerial Drones. In 2022 IEEE Aerospace Conference (AERO) (pp. 1-9). IEEE. pdf
• Video: Tablet demonstration

Sequential Convex Programming: This post gives details on the basics of sequential convex programming for trajectory planning.
• KKT Sensitivity Analysis: The following page provides details of sensitivity analysis using KKT conditions.