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… 
View on IEEE
dynsyslab.org
230 Citations
Highly Influential Citations
17
Background Citations
84
Methods Citations
78
Results Citations
6

Figures from this paper

230 Citations

Citation Type

Citation Type

Collision avoidance for aerial vehicles in multi-agent scenarios
TLDR
This article describes an investigation of local motion planning, or collision avoidance, for a set of decision-making agents navigating in 3D space, which builds on the concept of velocity obstacles, which characterizes the set of trajectories that lead to a collision between interacting agents.
A Distributed Algorithm for Real-Time Multi-Drone Collision-Free Trajectory Replanning
TLDR
A distributed algorithm to generate collision-free trajectories for a group of quadrotors flying through a common workspace that adopts the Voronoi partitioning of space to derive local constraints that guarantee collision avoidance with all neighbors for a certain time horizon.
Connected automated vehicle control in single lane roundabouts
A message-passing algorithm for multi-agent trajectory planning
TLDR
A novel approach for computing collision-free global trajectories for p agents with specified initial and final configurations, based on an improved version of the alternating direction method of multipliers (ADMM), which allows for incorporating different cost functionals with only minor adjustments.
Online distributed motion planning for multi-vehicle systems
TLDR
Simulations with a formation of holonomic vehicles in a dynamic environment demonstrate the capability of the proposed approach to generate optimal trajectories at an update rate of 20 Hz.
RHO-based convex optimization method applied to cooperative trajectory planning for multiple UAVs
TLDR
An optimization algorithm for trajectory planning of multiple unmanned aerial vehicles (UAVs) is presented to generate three-dimensional trajectories satisfying the initial and terminal state constraints by using the convex optimization method.
An Efficient Algorithm for Optimal Trajectory Generation for Heterogeneous Multi-Agent Systems in Non-Convex Environments
TLDR
A novel method to efficiently produce time-optimal collision-free trajectories in complex non-convex maze-like environments while enforcing nonlinear constraints on velocity, acceleration, jerk, and snap is presented.
Rapid Collision Detection for Multicopter Trajectories
  • Nathan Bucki, M. Mueller
  • Computer Science
    2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  • 2019
We present a continuous-time collision detection algorithm for quickly detecting whether certain polynomial trajectories in time intersect with convex obstacles. The algorithm is used in conjunction…
Trajectory planning and control for drone replacement for multidrone cinematography
Optimal Motion Planning for Differentially Flat Systems Using Bernstein Approximation
This letter presents a computational framework to efficiently generate feasible and optimal trajectories for differentially flat autonomous vehicle systems. We formulate the optimal motion planning…
...
...

References

SHOWING 1-10 OF 22 REFERENCES
Aircraft trajectory planning with collision avoidance using mixed integer linear programming
  • A. Richards, J. How
  • Business
    Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301)
  • 2002
Describes a method for finding optimal trajectories for multiple aircraft avoiding collisions. Developments in spacecraft path-planning have shown that trajectory optimization including collision…
Decentralized Cooperative Trajectory Planning of Multiple Aircraft with Hard Safety Guarantees
This paper presents a framework for provably safe decentralized trajectory planning of multiple (autonomous) aircraft. Each aircraft plans its trajectory individually using a receding horizon…
Optimal real-time collision-free motion planning for autonomous underwater vehicles in a 3D underwater space
TLDR
One approach to designing an optimal real-time collision-free trajectory for autonomous underwater vehicles (AUVs) that move in a 3D unknown underwater space is presented here, and is shown to be effective by computer simulations.
Quadrocopter Trajectory Generation and Control
Abstract An algorithm is presented that allows the calculation of flight trajectories for quadrocopters. Trajectory feasibility constraints regarding the vehicle dynamics and input constraints are…
Applications of hybrid reachability analysis to robotic aerial vehicles
TLDR
This paper presents two applications of reachable sets used to design and implement a backflip maneuver for a quadrotor helicopter and a decentralized collision avoidance algorithm for multiple quadrotors.
Smooth and collision-free navigation for multiple robots under differential-drive constraints
We present a method for smooth and collision-free navigation for multiple independent robots under differential-drive constraints. Our algorithm is based on the optimal reciprocal collision avoidance…
Minimum snap trajectory generation and control for quadrotors
TLDR
An algorithm is developed that enables the real-time generation of optimal trajectories through a sequence of 3-D positions and yaw angles, while ensuring safe passage through specified corridors and satisfying constraints on velocities, accelerations and inputs.
Dynamic Optimization Strategies for Three-Dimensional Conflict Resolution of Multiple Aircraft
TLDR
The problem of optimal cooperative three-dimensional conflict resolution involving multiple aircraft is addressed by the rigorous numerical trajectory optimization methods and the ability of the mathematical programming framework to accommodate detailed dynamic models is addressed.
A Survey of Motion Planning Algorithms from the Perspective of Autonomous UAV Guidance
TLDR
The purpose of this paper is to provide an overview of existing motion planning algorithms while adding perspectives and practical examples from UAV guidance approaches.
Multi-robot system for artistic pattern formation
TLDR
These Arbitrary target patterns are represented with an optimal robot deployment, using a method that is independent of the number of robots, and are visually appealing in the sense of being smooth, oscillation free, and showing fast convergence.
...
...