• Corpus ID: 237532290

Distributed Swarm Trajectory Optimization for Formation Flight in Dense Environments

  title={Distributed Swarm Trajectory Optimization for Formation Flight in Dense Environments},
  author={Lun Quan and Longji Yin and Chao Xu and Fei Gao},
  • Lun Quan, Longji Yin, +1 author Fei Gao
  • Published 16 September 2021
  • Computer Science
  • ArXiv
For aerial swarms, navigation in a prescribed formation is widely practiced in various scenarios. However, the associated planning strategies typically lack the capability of avoiding obstacles in cluttered environments. To address this deficiency, we present an optimization-based method that ensures collision-free trajectory generation for formation flight. In this paper, a novel differentiable metric is proposed to quantify the overall similarity distance between formations. We then formulate… 

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