Decentralized Deadlock-free Trajectory Planning for Quadrotor Swarm in Obstacle-rich Environments
Jungwon Park,Inkyu Jang,H. Jin Kim,Jungwon Park,Inkyu Jang,H. Jin Kim
This paper presents a decentralized multi-agent trajectory planning (MATP) algorithm that guarantees to generate a safe, deadlock-free trajectory in an obstacle-rich environment under a limited communication range. The proposed algorithm utilizes a grid-based multi-agent path planning (MAPP) algorithm for deadlock resolution, and we introduce the subgoal optimization method to make the agent conve...
