LSwarm: Efficient Collision Avoidance for Large Swarms with Coverage Constraints in Complex Urban Scenes

@article{Arul2019LSwarmEC,
  title={LSwarm: Efficient Collision Avoidance for Large Swarms with Coverage Constraints in Complex Urban Scenes},
  author={Senthil Hariharan Arul and Adarsh Jagan Sathyamoorthy and Shivang Patel and Michael W. Otte and Huan Xu and Ming C. Lin and Dinesh Manocha},
  journal={ArXiv},
  year={2019},
  volume={abs/1902.08379}
}
In this paper, we address the problem of collision avoidance for a swarm of UAVs used for continuous surveillance of an urban environment. Our method, LSwarm, efficiently avoids collisions with static obstacles, dynamic obstacles and other agents in 3-D urban environments while considering coverage constraints. LSwarm computes collision avoiding velocities that (i) maximize the conformity of an agent to an optimal path given by a global coverage strategy and (ii) ensure sufficient resolution of… CONTINUE READING
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