Decentralized prioritized motion planning for multiple autonomous UAVs in 3D polygonal obstacle environments


This paper presents a decentralized multi-agent motion planning method for aerial robots moving among 3D polygonal obstacles. The algorithm combines a prioritized A* algorithm for high-level (global) planning along with a barrier functions-based method for low-level (local) coordination and control. We first extend the barriers function method developed in… (More)


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