├── BBO v2 ├── CalculateEquations.m ├── allequations1.mat ├── allequations2.mat ├── allequations3.mat ├── allequations4.mat ├── allequations5.mat ├── images │ ├── astar.jpg │ ├── simulation.jpg │ └── velplot.jpg ├── init_script.m ├── maps │ ├── map1.txt │ ├── map2.txt │ ├── map3.txt │ └── map4.txt ├── phase1 │ ├── Heuristic.asv │ ├── Heuristic.m │ ├── Neighbours.m │ ├── ReconstructPath.m │ ├── RouletteWheelSelection.m │ ├── bbo.m │ ├── changePath.m │ ├── collide.m │ ├── getPath.m │ ├── load_map.m │ ├── mygrid.m │ ├── plot_path.m │ └── removeLoops.m ├── phase2 │ ├── controller.m │ └── nanoplus.m ├── quadEOM.m ├── quadEOM_readonly.m ├── ref │ └── 2015_proj1_phase3.pdf ├── runsim.m ├── test.m ├── test_trajectory.m ├── trajectory_generator.m └── utils │ ├── QuadPlot.m │ ├── QuatToRot.m │ ├── RPYtoRot_ZXY.m │ ├── RotToQuat.m │ ├── RotToRPY_ZXY.m │ ├── collision_check.m │ ├── init_state.m │ ├── plot_state.m │ ├── qdToState.m │ ├── quad_pos.m │ ├── stateToQd.m │ └── terminate_check.m ├── BBO ├── CalculateEquations.m ├── allequations.mat ├── images │ ├── astar.jpg │ ├── simulation.jpg │ └── velplot.jpg ├── init_script.m ├── lambda.m ├── maps │ ├── map1.txt │ ├── map2.txt │ ├── map3.txt │ └── map4.txt ├── phase1 │ ├── Heuristic.asv │ ├── Heuristic.m │ ├── Neighbours.m │ ├── ReconstructPath.m │ ├── RouletteWheelSelection.m │ ├── bbo.asv │ ├── bbo.m │ ├── calc_turns.m │ ├── changePath.m │ ├── collide.m │ ├── getPath.m │ ├── load_map.m │ ├── mygrid.m │ ├── plot_path.m │ └── removeLoops.m ├── phase2 │ ├── controller.m │ └── nanoplus.m ├── quadEOM.m ├── quadEOM_readonly.m ├── ref │ └── 2015_proj1_phase3.pdf ├── runsim.m ├── test.m ├── test_trajectory.m ├── trajectory_generator.m ├── utils │ ├── QuadPlot.m │ ├── QuatToRot.m │ ├── RPYtoRot_ZXY.m │ ├── RotToQuat.m │ ├── RotToRPY_ZXY.m │ ├── collision_check.m │ ├── init_state.m │ ├── plot_state.m │ ├── qdToState.m │ ├── quad_pos.m │ ├── stateToQd.m │ └── terminate_check.m └── waypoints.mat ├── Dijkstra v2 ├── CalculateEquations.m ├── allequations1.mat ├── allequations2.mat ├── allequations3.mat ├── allequations4.mat ├── allequations5.mat ├── images │ ├── astar.jpg │ ├── simulation.jpg │ └── velplot.jpg ├── init_script.m ├── maps │ ├── map1.txt │ ├── map2.txt │ ├── map3.txt │ └── map4.txt ├── phase1 │ ├── Heuristic.asv │ ├── Heuristic.m │ ├── Neighbours.m │ ├── ReconstructPath.m │ ├── changePath.m │ ├── collide.m │ ├── dijkstra.m │ ├── getPath.m │ ├── load_map.m │ ├── mygrid.m │ ├── plot_path.m │ └── removeLoops.m ├── phase2 │ ├── controller.m │ └── nanoplus.m ├── quadEOM.m ├── quadEOM_readonly.m ├── ref │ └── 2015_proj1_phase3.pdf ├── runsim.m ├── test.m ├── test_trajectory.m ├── trajectory_generator.m └── utils │ ├── QuadPlot.m │ ├── QuatToRot.m │ ├── RPYtoRot_ZXY.m │ ├── RotToQuat.m │ ├── RotToRPY_ZXY.m │ ├── collision_check.m │ ├── init_state.m │ ├── plot_state.m │ ├── qdToState.m │ ├── quad_pos.m │ ├── stateToQd.m │ └── terminate_check.m ├── Dijkstra ├── CalculateEquations.m ├── allequations.mat ├── allequations1.mat ├── images │ ├── astar.jpg │ ├── simulation.jpg │ └── velplot.jpg ├── init_script.m ├── maps │ ├── map1.txt │ ├── map2.txt │ ├── map3.txt │ └── map4.txt ├── phase1 │ ├── Heuristic.asv │ ├── Heuristic.m │ ├── Neighbours.m │ ├── ReconstructPath.m │ ├── calc_turns.m │ ├── collide.m │ ├── dijkstra.m │ ├── load_map.m │ ├── mygrid.m │ └── plot_path.m ├── phase2 │ ├── controller.m │ └── nanoplus.m ├── quadEOM.m ├── quadEOM_readonly.m ├── ref │ └── 2015_proj1_phase3.pdf ├── runsim.m ├── test.m ├── test_trajectory.m ├── trajectory_generator.asv ├── trajectory_generator.m ├── utils │ ├── QuadPlot.m │ ├── QuatToRot.m │ ├── RPYtoRot_ZXY.m │ ├── RotToQuat.m │ ├── RotToRPY_ZXY.m │ ├── collision_check.m │ ├── init_state.m │ ├── plot_state.m │ ├── qdToState.m │ ├── quad_pos.m │ ├── stateToQd.m │ └── terminate_check.m └── waypoints.mat ├── GSO v2 ├── CalculateEquations.m ├── allequations1.mat ├── allequations2.mat ├── allequations3.mat ├── allequations4.mat ├── allequations5.mat ├── images │ ├── astar.jpg │ ├── simulation.jpg │ └── velplot.jpg ├── init_script.m ├── maps │ ├── map1.txt │ ├── map2.txt │ ├── map3.txt │ └── map4.txt ├── phase1 │ ├── Heuristic.asv │ ├── Heuristic.m │ ├── Neighbours.m │ ├── ReconstructPath.m │ ├── changePath.m │ ├── collide.m │ ├── getPath.m │ ├── gso.m │ ├── load_map.m │ ├── mygrid.m │ ├── plot_path.m │ └── removeLoops.m ├── phase2 │ ├── controller.m │ └── nanoplus.m ├── quadEOM.m ├── quadEOM_readonly.m ├── ref │ └── 2015_proj1_phase3.pdf ├── runsim.m ├── test.m ├── test_trajectory.m ├── trajectory_generator.m └── utils │ ├── QuadPlot.m │ ├── QuatToRot.m │ ├── RPYtoRot_ZXY.m │ ├── RotToQuat.m │ ├── RotToRPY_ZXY.m │ ├── collision_check.m │ ├── init_state.m │ ├── plot_state.m │ ├── qdToState.m │ ├── quad_pos.m │ ├── stateToQd.m │ └── terminate_check.m ├── GSO ├── CalculateEquations.m ├── allequations1.mat ├── allequations2.mat ├── allequations3.mat ├── allequations4.mat ├── allequations5.mat ├── images │ ├── astar.jpg │ ├── simulation.jpg │ └── velplot.jpg ├── init_script.m ├── maps │ ├── map1.txt │ ├── map2.txt │ ├── map3.txt │ ├── map4.txt │ └── map5.txt ├── phase1 │ ├── Heuristic.asv │ ├── Heuristic.m │ ├── Neighbours.m │ ├── ReconstructPath.m │ ├── calc_turns.m │ ├── changePath.m │ ├── collide.m │ ├── getPath.m │ ├── gso.m │ ├── load_map.m │ ├── mygrid.m │ ├── plot_path.m │ └── removeLoops.m ├── phase2 │ ├── controller.m │ └── nanoplus.m ├── quadEOM.m ├── quadEOM_readonly.m ├── ref │ └── 2015_proj1_phase3.pdf ├── runsim.m ├── test.m ├── test_trajectory.m ├── trajectory_generator.m ├── utils │ ├── QuadPlot.m │ ├── QuatToRot.m │ ├── RPYtoRot_ZXY.m │ ├── RotToQuat.m │ ├── RotToRPY_ZXY.m │ ├── collision_check.m │ ├── init_state.m │ ├── plot_state.m │ ├── qdToState.m │ ├── quad_pos.m │ ├── stateToQd.m │ └── terminate_check.m └── waypoints.mat ├── IBA v2 ├── CalculateEquations.m ├── allequations1.mat ├── allequations2.mat ├── allequations3.mat ├── allequations4.mat ├── allequations5.mat ├── images │ ├── astar.jpg │ ├── simulation.jpg │ └── velplot.jpg ├── init_script.m ├── maps │ ├── map1.txt │ ├── map2.txt │ ├── map3.txt │ └── map4.txt ├── phase1 │ ├── Heuristic.asv │ ├── Heuristic.m │ ├── Neighbours.m │ ├── ReconstructPath.m │ ├── changePath.m │ ├── collide.m │ ├── getPath.m │ ├── iba.m │ ├── load_map.m │ ├── mygrid.m │ ├── plot_path.m │ └── removeLoops.m ├── phase2 │ ├── controller.m │ └── nanoplus.m ├── quadEOM.m ├── quadEOM_readonly.m ├── ref │ └── 2015_proj1_phase3.pdf ├── runsim.m ├── test.m ├── test_trajectory.m ├── trajectory_generator.m └── utils │ ├── QuadPlot.m │ ├── QuatToRot.m │ ├── RPYtoRot_ZXY.m │ ├── RotToQuat.m │ ├── RotToRPY_ZXY.m │ ├── collision_check.m │ ├── init_state.m │ ├── plot_state.m │ ├── qdToState.m │ ├── quad_pos.m │ ├── stateToQd.m │ └── terminate_check.m ├── IBA ├── CalculateEquations.m ├── allequations1.mat ├── allequations2.mat ├── allequations3.mat ├── allequations4.mat ├── allequations5.mat ├── images │ ├── astar.jpg │ ├── simulation.jpg │ └── velplot.jpg ├── init_script.m ├── maps │ ├── map1.txt │ ├── map2.txt │ ├── map3.txt │ ├── map4.txt │ └── map5.txt ├── phase1 │ ├── Heuristic.asv │ ├── Heuristic.m │ ├── Neighbours.m │ ├── ReconstructPath.m │ ├── calc_turns.m │ ├── changePath.m │ ├── collide.m │ ├── getPath.m │ ├── iba.m │ ├── load_map.m │ ├── mygrid.m │ ├── nestedSortStruct.m │ ├── plot_path.m │ ├── removeLoops.m │ └── sortStruct.m ├── phase2 │ ├── controller.m │ └── nanoplus.m ├── quadEOM.m ├── quadEOM_readonly.m ├── ref │ └── 2015_proj1_phase3.pdf ├── runsim.m ├── test.m ├── test_trajectory.m ├── trajectory_generator.m ├── utils │ ├── QuadPlot.m │ ├── QuatToRot.m │ ├── RPYtoRot_ZXY.m │ ├── RotToQuat.m │ ├── RotToRPY_ZXY.m │ ├── collision_check.m │ ├── init_state.m │ ├── plot_state.m │ ├── qdToState.m │ ├── quad_pos.m │ ├── stateToQd.m │ └── terminate_check.m └── waypoints.mat ├── PSO v2 ├── CalculateEquations.m ├── allequations1.mat ├── allequations2.mat ├── allequations3.mat ├── allequations4.mat ├── allequations5.mat ├── images │ ├── astar.jpg │ ├── simulation.jpg │ └── velplot.jpg ├── init_script.m ├── maps │ ├── map1.txt │ ├── map2.txt │ ├── map3.txt │ └── map4.txt ├── phase1 │ ├── Heuristic.asv │ ├── Heuristic.m │ ├── Neighbours.m │ ├── ReconstructPath.m │ ├── changePath.m │ ├── collide.m │ ├── getPath.m │ ├── load_map.m │ ├── mygrid.m │ ├── plot_path.m │ ├── pso.m │ └── removeLoops.m ├── phase2 │ ├── controller.m │ └── nanoplus.m ├── quadEOM.m ├── quadEOM_readonly.m ├── ref │ └── 2015_proj1_phase3.pdf ├── runsim.m ├── test.m ├── test_trajectory.m ├── trajectory_generator.m └── utils │ ├── QuadPlot.m │ ├── QuatToRot.m │ ├── RPYtoRot_ZXY.m │ ├── RotToQuat.m │ ├── RotToRPY_ZXY.m │ ├── collision_check.m │ ├── init_state.m │ ├── plot_state.m │ ├── qdToState.m │ ├── quad_pos.m │ ├── stateToQd.m │ └── terminate_check.m ├── PSO ├── CalculateEquations.m ├── allequations.mat ├── images │ ├── astar.jpg │ ├── simulation.jpg │ └── velplot.jpg ├── init_script.m ├── maps │ ├── map1.txt │ ├── map2.asv │ ├── map2.txt │ ├── map3.txt │ ├── map4.txt │ └── map9.txt ├── phase1 │ ├── Heuristic.asv │ ├── Heuristic.m │ ├── Neighbours.m │ ├── ReconstructPath.m │ ├── calc_turns.m │ ├── changePath.m │ ├── collide.m │ ├── getPath.m │ ├── load_map.m │ ├── mygrid.m │ ├── plot_path.m │ ├── pso.m │ └── removeLoops.m ├── phase2 │ ├── controller.m │ └── nanoplus.m ├── quadEOM.m ├── quadEOM_readonly.m ├── ref │ └── 2015_proj1_phase3.pdf ├── runsim.m ├── test.m ├── test_trajectory.m ├── trajectory_generator.m ├── utils │ ├── QuadPlot.m │ ├── QuatToRot.m │ ├── RPYtoRot_ZXY.m │ ├── RotToQuat.m │ ├── RotToRPY_ZXY.m │ ├── collision_check.m │ ├── init_state.m │ ├── plot_state.m │ ├── qdToState.m │ ├── quad_pos.m │ ├── stateToQd.m │ └── terminate_check.m └── waypoints.mat ├── README.md └── SSA ├── CalculateEquations.m ├── allequations.mat ├── images ├── astar.jpg ├── simulation.jpg └── velplot.jpg ├── init_script.m ├── maps ├── map1.txt ├── map2.asv ├── map2.txt ├── map3.txt └── map4.txt ├── phase1 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