Decentralized Multi-Agent Trajectory Planning in Dynamic Environments with Spatiotemporal Occupancy Grid Maps
Siyuan Wu,Gang Chen,Moji Shi,Javier Alonso-Mora,Siyuan Wu,Gang Chen,Moji Shi,Javier Alonso-Mora
This paper proposes a decentralized trajectory planning framework for the collision avoidance problem of multiple micro aerial vehicles (MAVs) in environments with static and dynamic obstacles. The framework utilizes spatiotemporal occupancy grid maps (SOGM), which forecast the occupancy status of neighboring space in the near future, as the environment representation. Based on this representation...
