Generation of collision-free trajectories for a quadrocopter fleet: A sequential convex programming approach

@article{Augugliaro2012GenerationOC,
  title={Generation of collision-free trajectories for a quadrocopter fleet: A sequential convex programming approach},
  author={Federico Augugliaro and Angela P. Schoellig and Raffaello D’Andrea},
  journal={2012 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2012},
  pages={1917-1922}
}
This paper presents an algorithm that generates collision-free trajectories in three dimensions for multiple vehicles within seconds. The problem is cast as a non-convex optimization problem, which is iteratively solved using sequential convex programming that approximates non-convex constraints by using convex ones. The method generates trajectories that account for simple dynamics constraints and is thus independent of the vehicle's type. An extensive a posteriori vehicle-specific feasibility… 

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