Online Planning for Quadrotor Teams in 3-D Workspaces via Reachability Analysis On Invariant Geometric Trees
Arjav Desai,Nathan Michael,Arjav Desai,Nathan Michael
We consider the kinodynamic multi-robot planning problem in cluttered 3-D workspaces. Reachability analysis on position invariant geometric trees is leveraged to find kino- dynamically feasible trajectories for the multi-robot team from potentially non-stationary initial states. The key contribution of our approach is that a collision-free geometric solution guarantees a kinodynamically feasible, ...
