  In this paper, we propose an efficient, receding horizon, local adaptive
low-level planner as the middle layer between our original planner and
controller. Our method is named as corridor-based model predictive contouring
control (CMPCC) since it builds upon on MPCC and utilizes the flight corridor
as hard safety constraints. It optimizes the flight aggressiveness and tracking
accuracy simultaneously, thus improving our system's robustness by overcoming
unmeasured disturbances. Our method features its online flight speed
optimization, strict safety and feasibility, and real-time performance, and
will be released as a low-level plugin for a large variety of quadrotor
systems.
