Mixed-integer quadratic program trajectory generation for heterogeneous quadrotor teams

  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},
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… 

Figures and Tables from this paper

Mixed Integer Quadratic Program trajectory generation for a quadrotor with a cable-suspended payload
This paper's method accommodates transitions between subsystems of the hybrid dynamical system, allowing for maneuvers that would otherwise be infeasible if the cable were constrained to remain taut.
Trajectory Planning for Quadrotor Swarms
The proposed method can compute safe and smooth trajectories for hundreds of quadrotors in dense environments with obstacles in a few minutes, and is demonstrated on a quadrotor swarm navigating in a warehouse setting.
Downwash-aware trajectory planning for large quadrotor teams
This work describes a method for formation-change trajectory planning for large quadrotor teams in obstacle-rich environments that can compute safe and smooth trajectories for hundreds of quadrotors in dense environments with obstacles in a few minutes.
Quadrotor trajectory generation in dynamic environments using semi-definite relaxation on nonconvex QCQP
  • Fei Gao, S. Shen
  • Computer Science
    2017 IEEE International Conference on Robotics and Automation (ICRA)
  • 2017
An optimization-based framework for generating quadrotor trajectories which are free of collision in dynamic environments with both static and moving obstacles, and optimizes trajectories globally for all observed moving and static obstacles, such that the avoidance behavior is most unnoticeable.
Aggressive quadrotor flight through cluttered environments using mixed integer programming
Experimental validation of the claim that it would be possible to plan and robustly execute trajectories in obstacle-dense environments using the novel Iterative Regional Inflation by Semidefinite programming algorithm (IRIS), mixed-integer semideFinite programs (MISDP), and model-based control is presented.
Efficient and Safe Motion Planning for Quadrotors Based on Unconstrained Quadratic Programming
An autonomous motion planning framework, consisting of path planning and trajectory generation, and comparisons with other methods based on statistical simulations show that the proposed method achieves computational efficiency and a safe trajectory.
Real-time safe trajectory generation for quadrotor flight in cluttered environments
  • Jing Chen, K. Su, S. Shen
  • Engineering, Computer Science
    2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)
  • 2015
This work proposes a quadratic programming-based formulation for generating multi-segment polynomial trajectories that are entirely fit within the corridor, and thus collision-free, and allows incorporating higher-order dynamical constraints to ensure that the trajectory is feasible for the platform.
Near minimum-time trajectories for quadrotor UAVs in complex environments
  • J. Jamieson, J. Biggs
  • Mathematics
    2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  • 2016
A heuristic framework that generates trajectories for quadrotor UAVs in complex environments that smoothly follow a series of waypoints with desired boundary states on the derivatives using polynomials parametrised by an abstract argument.
Decentralized MPC-Based Trajectory Generation for Multiple Quadrotors in Cluttered Environments
A model predictive control (MPC)-based approach for each quadrotor is proposed to achieve distributed and asynchronous cooperative motion planning and the superior performance of the proposed method is demonstrated.
An Efficient Algorithm for Optimal Trajectory Generation for Heterogeneous Multi-Agent Systems in Non-Convex Environments
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.


Mixed integer programming for multi-vehicle path planning
A new approach to fuel-optimal path planning of multiple vehicles using a combination of linear and integer programming and the framework of mixed integer/linear programming is well suited for path planning and collision avoidance problems.
Minimum snap trajectory generation and control for quadrotors
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.
Trajectory generation and control for precise aggressive maneuvers with quadrotors
It is shown that this approach permits the development of trajectories and controllers enabling such aggressive maneuvers as flying through narrow, vertical gaps and perching on inverted surfaces with high precision and repeatability.
Plume Avoidance Maneuver Planning Using Mixed Integer Linear Programming
This paper extends a recently-developed path planning method to account for plume impingement, which is a key concern for on-orbit rendezvous and formation flying spacecraft. The approach designs
Multi-vehicle path planning for non-line of sight communication
This paper presents the formulation and hardware results of a mixed-integer linear programming approach to online connectivity-constrained trajectory planning of autonomous helicopters through
Design of guaranteed safe maneuvers using reachable sets: Autonomous quadrotor aerobatics in theory and practice
This work presents a hybrid dynamics framework for the design of guaranteed safe switching regions and is applied to a quadrotor helicopter performing an autonomous backflip.
LQR-trees: Feedback motion planning on sparse randomized trees
  • Russ Tedrake
  • Computer Science, Mathematics
    Robotics: Science and Systems
  • 2009
A feedback motion planning algorithm which uses direct computation of Lyapunov functions using convex optimization to efficiently combine locally-valid linear quadratic regulator controllers into a nonlinear feedback policy which probabilistically covers the reachable area of a state space with a region of stability.
Receding horizon path planning with implicit safety guarantees
This paper extends a recently developed approach to optimal path planning of autonomous vehicles, based on mixed integer linear programming (MILP), to account for safety. We consider the case of a
Energy-efficient Autonomous Four-rotor Flying Robot Controlled at 1 kHz
An efficient, reliable, and robust four-rotor flying platform for indoor and outdoor navigation using powerful brushless DC motors in a light-weight package based on a small number of low-cost components.
A simple learning strategy for high-speed quadrocopter multi-flips
We describe a simple and intuitive policy gradient method for improving parametrized quadrocopter multi-flips by combining iterative experiments with information from a first-principles model. We