SwarmCCO: Probabilistic Reactive Collision Avoidance for Quadrotor Swarms Under Uncertainty

We present decentralized collision avoidance algorithms for quadrotor swarms operating under uncertain state estimation. Our approach exploits the differential flatness property and feedforward linearization to approximate the quadrotor dynamics and performs reciprocal collision avoidance. We accoun...

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Veröffentlicht in:	IEEE robotics and automation letters 2021-04, Vol.6 (2), p.2437-2444
Hauptverfasser:	Arul, Senthil Hariharan, Manocha, Dinesh
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Collision avoidance Collision dynamics Collisions Confidence intervals Gaussian distribution Heuristic algorithms motion and path planning Navigation Probabilistic logic Probabilistic models Random noise simulation and animation State estimation Statistical analysis Trajectory Uncertainty
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