Planning for Quadrotor Waypoint Flight

[alibabasomeone]

Dear author, thank you for your excellent work. I noticed that your paper "Geometrically Constrained Trajectory Optimization for Multicopters" corresponds to the project GCOPTER, while the paper "Generating Large-Scale Trajectories Efficiently using Double Descriptions of Polynomials" corresponds to large_scale_traj_optimizer. Although your thesis summarizes the achievements during your doctoral period, I still cannot link the logical relationship between these two papers. They also do not cite each other, does this mean there is no causal relationship, but rather different aspects of the same research content? Or does Geometrically Constrained Trajectory Optimization also use Double Descriptions of Polynomials? In other words, does GCOPTER include the content of large_scale_traj_optimizer?

Moreover, if I only input way points (including stationary starting and ending points) and hope to use your method to output trajectories (like the Benchmark Comparison in Fig. 8 of the paper "Fast-Racing: An Open-Source Strong Baseline for $\backslash$mathrm ${$SE$}$(3) $ Planning in Autonomous Drone Racing"), which project should I apply?