Trajectory Planning for Quadrotor Swarms.
IEEE Transactions on Robotics(2018)
摘要
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 ...
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关键词
Robots,Collision avoidance,Schedules,Vehicle dynamics,Trajectory optimization
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