Navigating multiple simple-airplanes in 3D workspace

@article{Snape2010NavigatingMS,
  title={Navigating multiple simple-airplanes in 3D workspace},
  author={Jamie Snape and Dinesh Manocha},
  journal={2010 IEEE International Conference on Robotics and Automation},
  year={2010},
  pages={3974-3980}
}
We present an algorithm for collision-free navigation of multiple flying robots in three-dimensional workspace. Our approach extends the model of a simple car to a simple-airplane, which has constraints on speed and steering angle and includes a configuration variable for the altitude. We use a locally optimal reciprocal collision avoidance scheme that computes the trajectory without any collisions or oscillations for each airplane independently. In addition, our algorithm explicitly considers… CONTINUE READING
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