CONTROL OF MULTI-DRONE FLEETS WITH TEMPORAL LOGIC OBJECTIVES

Methods, systems, and computer readable media for controlling a fleet of drones. A method includes receiving a mission specification for each drone of one or more drones, each mission specification including spatio-temporal requirements for the drone. The method includes generating, for each drone,...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: Pant, Yash Vardhan, Mangharam, Rahul, Abbas, Houssam, Quaye, Rhudii A
Format: Patent
Sprache:eng
Schlagworte:
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Beschreibung
Zusammenfassung:Methods, systems, and computer readable media for controlling a fleet of drones. A method includes receiving a mission specification for each drone of one or more drones, each mission specification including spatio-temporal requirements for the drone. The method includes generating, for each drone, a low-rate trajectory for the drone by performing a robustness maximization of satisfying the mission specification over a low-rate sequence of waypoints for the drone based on a mapping between low-rate trajectories and high-rate trajectories. The method includes transmitting, to each drone, the low-rate trajectory for the drone, causing a local controller of each drone to control the drone by generating a high-rate trajectory using the low-rate trajectory and the mapping between low-rate trajectories and high-rate trajectories.