For the final assignment of the course Planning and Decision Making, we were tasked with taking an existing research paper and implementing their planning method on a simulated robot. We chose a quadcopter as our robot and RRT-u, by Urban Eriksson, as the planning method.

This version of RRT plans with drone physics in mind, making smooth trajectories and prefering fast over short routes.

The final report is shown below. Alternatively you can download it here and view the code here