Scalable Online Flight Trajectory Optimization via Sequential Quadratic Programming for Urban Air Mobility in Ultra Low-Altitude Airspace (opens in new tab)

As Urban Air Mobility (UAM) scales toward high-density operations, generating collision-free trajectories within complex 3D cityscapes is a critical safety requirement. This paper proposes a scalable Sequential Quadratic Programming (SQP) framework that integrates geometric environmental constraints, operational limits, and vehicle dynamics within a single online trajectory optimization process. Rather than precomputing obstacle-free corridors a...