Online Distributed Trajectory Planning for Quadrotor Swarm with Feasibility Guarantee using Linear Safe Corridor

This paper presents a new online multi-agent trajectory planning algorithm that guarantees to generate safe, dynamically feasible trajectories in a cluttered environment. The proposed algorithm utilizes a linear safe corridor (LSC) to formulate the distributed trajectory optimization problem with on...

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Veröffentlicht in:	arXiv.org 2022-01
Hauptverfasser:	Park, Jungwon, Dabin Kim, Gyeong Chan Kim, Oh, Dahyun, H Jin Kim
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Decision making Decision trees Feasibility Multiagent systems Rotary wing aircraft Slack variables Trajectory optimization Trajectory planning
Online-Zugang:	Volltext
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