Predictive control of aerial swarms in cluttered environments

@article{Soria2020PredictiveCO,
  title={Predictive control of aerial swarms in cluttered environments},
  author={Enrica Soria and Fabrizio Schiano and Dario Floreano},
  journal={Nat. Mach. Intell.},
  year={2020},
  volume={3},
  pages={545-554}
}
Classical models of aerial swarms often describe global coordinated motion as the combination of local interactions that happen at the individual level. Mathematically, these interactions are represented with Potential Fields. Despite their explanatory success, these models fail to guarantee rapid and safe collective motion when applied to aerial robotic swarms flying in cluttered environments of the real world, such as forests and urban areas. Moreover, these models necessitate a tight… 

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