AMSwarm: An Alternating Minimization Approach for Safe Motion Planning of Quadrotor Swarms in Cluttered Environments
Vivek K. Adajania,Siqi Zhou,Arun Kumar Singh,Angela P. Schoellig,Vivek K. Adajania,Siqi Zhou,Arun Kumar Singh,Angela P. Schoellig
This paper presents a scalable online algorithm to generate safe and kinematically feasible trajectories for quadrotor swarms. Existing approaches rely on linearizing Euclidean distance-based collision constraints and on axis-wise decoupling of kinematic constraints to reduce the trajectory optimization problem for each quadrotor to a quadratic program (QP). This conservative approximation often f...
