GENERAL INFORMATION 
...........................

1. Dataset title:
Trajectory Data from Crazyflie Experiments in Circle and Eight-Shaped Circuits

2. Authors:
Da-hui Lin-Yang, Francisco Pastor, Alfonso J. García-Cerezo

3. Author contact information: 
Da-hui Lin-Yang – dahuilinyang@uma.es



METHODOLOGICAL INFORMATION 
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1. Description of the methods for collection/generation of data: 

This dataset contains trajectory data collected during real-world experiments using a Crazyflie 2.1 quadrotor in indoor flight circuits (circle and eight-shaped). The trajectories were planned using a time-optimal-based method formulated with Pontryagin’s Maximum Principle and a Point Mass Model (PMM). The experiments were recorded using the Optitrack motion capture system with PrimeX 13 cameras.  
Reference article: *Low Computational Cost for Multiple Waypoints Trajectory Planning: A Time-Optimal-Based Approach*. Advanced Intelligent Systems, 2025, 7, 2400363.  
Authors: D.-H. Lin-Yang, F. Pastor, A. J. García-Cerezo.  

2. Data processing methods
Planned PMM trajectories were approximated using seventh-order polynomials to provide smooth references. The recorded flight data was processed into CSV format, including timestamps, positions, velocities, and accelerations.

3. Software or instruments needed to interpret the data:
- Optitrack Motive (for data acquisition, proprietary software).  
- CSV files can be analyzed using open-source tools (e.g., Python, MATLAB, R).  
- Visualizations in the associated article and GitHub repository were generated with Python 3.9 and Matplotlib.

4. Standards and calibration information, if appropriate: 
The Optitrack system was calibrated before each experiment following the manufacturer’s recommended procedure. 

5. Environmental or experimental conditions:
Indoor laboratory environment with controlled lighting, no wind disturbances, and limited flight volume (motion capture arena).



FILE OVERVIEW 
----------------------

The dataset includes the following files in CSV format:

- **pmm_1_lap.csv**: Trajectory generated using the Point Mass Model (reference).  
- **ours_1_lap.csv**: Polynomial approximation of the PMM trajectory, used as the track reference.  
- **state_1_lap.csv**: Recorded flight data from the Crazyflie drone.  

Directory structure example:  

/TrajectoryData/
├── pmm_1_lap.csv
├── ours_1_lap.csv
└── state_1_lap.csv





DATA-SPECIFIC INFORMATION:
-------------------------------------------

1. Name File: pmm_1_lap.csv

1.1. Variables list:
- Timestamp: time in seconds [s].  
- Position_x, Position_y, Position_z: position coordinates [m].  
- Velocity_x, Velocity_y, Velocity_z: linear velocity components [m/s].  
- Acceleration_x, Acceleration_y, Acceleration_z: linear acceleration components [m/s²].  

1.2. Codes or symbols: 
Not applicable.

1.3. Special formats or abbreviations used:
CSV format with comma delimiter.


2. Name File: ours_1_lap.csv
(Same structure as pmm_1_lap.csv, representing the polynomial approximation trajectory.)


3. Name File: state_1_lap.csv
(Same structure as pmm_1_lap.csv, representing the actual recorded flight data.)


MORE INFORMATION
-------------------
Additional information, figures, and videos of the experiments are available at the GitHub repository:  
https://github.com/DahuiLin/DataRecordCrazyflieExperiments  

Videos of the experiments:  
- https://youtu.be/l7ZtUI-oYCA  

Citation of the related publication:  
Lin‐Yang, D.-H., Pastor, F., & García‐Cerezo, A. J. (2025). *Low Computational Cost for Multiple Waypoints Trajectory Planning: A Time‐Optimal‐Based Approach*. Advanced Intelligent Systems, 7, 2400363. https://doi.org/10.1002/aisy.202400363