Trajectory Planning for Quadrotor Swarms

@article{Hnig2018TrajectoryPF,
  title={Trajectory Planning for Quadrotor Swarms},
  author={Wolfgang H{\"o}nig and James A. Preiss and T. K. Satish Kumar and Gaurav S. Sukhatme and Nora Ayanian},
  journal={IEEE Transactions on Robotics},
  year={2018},
  volume={34},
  pages={856-869}
}
We describe a method for multirobot trajectory planning in known, obstacle-rich environments. We demonstrate our approach on a quadrotor swarm navigating in a warehouse setting. Our method consists of following three stages: 1) roadmap generation that generates sparse roadmaps annotated with possible interrobot collisions; 2) discrete planning that finds valid execution schedules in discrete time and space; 3) continuous refinement that creates smooth trajectories. We account for the downwash… CONTINUE READING

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