  The recent works on quadrotor have focused on more and more challenging tasks
on increasingly complex systems. Systems are often augmented with slung loads,
inverted pendulums or arms, and accomplish complex tasks such as going through
a window, grasping, throwing or catching. Usually, controllers are designed to
accomplish a specific task on a specific system using analytic solutions, so
each application needs long preparations. On the other hand, the direct
multiple shooting approach is able to solve complex problems without any
analytic development, by using on-the-shelf optimization solver. In this paper,
we show that this approach is able to solve a wide range of problems relevant
to quadrotor systems, from on-line trajectory generation for quadrotors, to
going through a window for a quadrotor-and-pendulum system, through
manipulation tasks for a aerial manipulator.
