Distributed Swarm Trajectory Optimization for Formation Flight in Dense Environments
Lun Quan,Longji Yin,Chao Xu,Fei Gao,Lun Quan,Longji Yin,Chao Xu,Fei Gao
For aerial swarms, navigation in a prescribed formation is widely practiced in various scenarios. However, the associated planning strategies typically lack the capability of avoiding obstacles in cluttered environments. To address this deficiency, we present an optimization-based method that ensures collision-free trajectory generation for formation flight. In this paper, a novel differentiable m...
