EGO-Swarm: A Fully Autonomous and Decentralized Quadrotor Swarm System in Cluttered Environments
Xin Zhou,Jiangchao Zhu,Hongyu Zhou,Chao Xu,Fei Gao,Xin Zhou,Jiangchao Zhu,Hongyu Zhou,Chao Xu,Fei Gao
This paper presents a decentralized and asynchronous systematic solution for multi-robot autonomous navigation in unknown obstacle-rich scenes using merely onboard resources. The planning system is formulated under gradient-based local planning framework, where collision avoidance is achieved by formulating the collision risk as a penalty of a nonlinear optimization problem. In order to improve ro...
