Generation of collision-free trajectories for a quadrocopter fleet: A sequential convex programming approach

By Federico Augugliaro, Angela P. Schoellig, Raffaello D'Andrea. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

353 citations recorded by the source corpus.

Subfields: Automotive Engineering, Computer Vision and Pattern Recognition, Control and Systems Engineering

View Paper: https://www.semanticscholar.org/paper/8ef8ab4903f1cfc8eef58ddbae7f7758f6330af2

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Citations in the corpus

Trajectory Planning for Quadrotor Swarms (2018, methodology): “double-integrators [7], our method produces trajectories with arbitrary smoothness up to a user-defined derivative.”
Algorithms for collision-free navigation of mobile robots in complex cluttered environments: a survey (2014, background): “62 • Other approaches have been proposed using multiplexed MPC (see, e.g., [136, 255]), and sequential decentralization (see, e.g., [3, 13, 194]).”
Learning deep control policies for autonomous aerial vehicles with MPC-guided policy search (2015, neutral): “quently used to control autonomous aerial vehicles such as quadrotors [38], [35], [34], [3], [2], [4], [29].”
Decentralized non-communicating multiagent collision avoidance with deep reinforcement learning (2016, background): “Yet, in many existing works, such constraints can be difficult to encode and might lead to a substantial increase in computational complexity [5], [12].”
Survey of convex optimization for aerospace applications (2017, background): “Nevertheless, this problem can be efficiently solved by sequential convex programming (SCP) after the nonconvex constraints are approximated by convex ones [5].”
Swarm of micro flying robots in the wild (2022, methodology): “We conducted more tests with an extra pair of centralized swarm trajectory planners, SCP (sequential convex programming) (48) and RBP (relative Bernstein polynomial) (49), both of which require global maps and sufficient time for offline computation, as given in the Supplementary Materials.”