Detailed Proofs of Alternating Minimization Based Trajectory Generation for Quadrotor Aggressive Flight

This work addresses the problem of ensuring theoretical guarantees for trajectory optimization in aggressive quadrotor flight, but it is incremental as it builds on existing methods without introducing new paradigms.

The paper provides a detailed theoretical analysis of an alternating minimization algorithm for trajectory generation in quadrotor aggressive flight, focusing on assumptions for meaningful objective function settings and analyzing the global/local convergence rates of the algorithm.