Deferred Decision Trajectory Optimization Quadrotor motion planning examples ddto-micp discrete-time linear system (3D double integrator) convex path constraints: thrust pointing, thrust upper bound and lower bound (convexified) ddto-qcvx discrete-time linear system (3D double integrator) convex path constraints: thrust pointing, thrust upper bound and lower bound (convexified) ddto-scp continuous-time nonlinear system (3D double integrator with drag) nonconvex path constraints: obstacle avoidance, speed upper bound, thrust pointing, thrust upper and lower bound