• DOI:10.1109/ICRA.2012.6225009
Corpus ID: 1100080

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 V. Kumar},
  journal={2012 IEEE International Conference on Robotics and Automation},
  year={2012},
  pages={477-483}
}

• Daniel Mellinger, Aleksandr Kushleyev, V. Kumar
• Published 2012
• Mathematics, Computer Science
• 2012 IEEE International Conference on Robotics and Automation

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… Expand

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