Mixed-integer quadratic program trajectory generation for heterogeneous quadrotor teams

@article{Mellinger2012MixedintegerQP,
  title={Mixed-integer quadratic program trajectory generation for heterogeneous quadrotor teams},
  author={Daniel Mellinger and Aleksandr Kushleyev and Vijay R. Kumar},
  journal={2012 IEEE International Conference on Robotics and Automation},
  year={2012},
  pages={477-483}
}
We present an algorithm for the generation of optimal trajectories for teams of heterogeneous quadrotors in three-dimensional environments with obstacles. We formulate the problem using mixed-integer quadratic programs (MIQPs) where the integer constraints are used to enforce collision avoidance. The method allows for different sizes, capabilities, and varying dynamic effects between different quadrotors. Experimental results illustrate the method applied to teams of up to four quadrotors… 
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