A Scalable Distributed Collision Avoidance Scheme for Multi-agent UAV systems
Björn Lindqvist,Pantelis Sopasakis,George Nikolakopoulos,Björn Lindqvist,Pantelis Sopasakis,George Nikolakopoulos
In this article we propose a distributed collision avoidance scheme for multi-agent unmanned aerial vehicles (UAVs) based on nonlinear model predictive control (NMPC), where other agents in the system are considered as dynamic obstacles with respect to the ego agent. Our control scheme operates at a low level and commands roll, pitch and thrust signals at a high frequency, each agent broadcasts it...
