We tackle the problem of minimum-time flight for a quadrotor through sequence waypoints in presence obstacles while exploiting full dynamics. Early works relied on simplified dynamics or polynomial trajectory representations that did not exploit actuator potential quadrotor, and, thus, resulted suboptimal solutions. Recent can plan trajectories; yet, trajectories are executed with control metho...

We present a polynomial time algorithm for the Minimum Quartet Inconsistency (MQI) problem when the number of quartet errors is O(n). This improves the previously best algorithmic result saying that if the number of quartet errors is at most (n− 3)/2 then the MQI problem can be solved in polynomial time. © 2006 Elsevier B.V. All rights reserved.

A straight-line grid drawing of a plane graph G is a planar drawing of G, where each vertex is drawn at a grid point of an integer grid and each edge is drawn as a straight-line segment. The area of such a drawing is the area of the smallest axis-aligned rectangle on the grid which encloses the drawing. A minimum-area drawing of a plane graph G is a straight-line grid drawing of G where the are...