2018/08/31 by Hossein Rastgoftar, Rastgoftar, Hossein, Ella Atkins +1
Computer Science · Engineering · #Distributed Control Multi-Agent Systems #Robotic Path Planning Algorithms #Traffic control and management
paper · pdf · doi:10.48550/arxiv.1809.00109
This paper studies collective motion optimization of a fleet of UAVs flying\nover a populated and geometrically constrained area. The paper treats UAVs as\nparticles of a deformable body, thus, UAV coordination is defined by a\nhomeomorphic continuum deformation function. Under continuum deformation, the\ndistance between individual UAVs can significantly change while assuring the\nUAVs dont collide, enabling a swarm to travel through the potentially cluttered\nenvironment. To ensure inter-agent and obstacle collision avoidance, the paper\nformulates safety requirements as inequality constraints of the coordination\noptimization problem. The main objective of the paper is then to optimize\ncontinuum deformation of the UAV team satisfying all continuum deformation\ninequality constraints. Given initial and target configurations, the cost is\ndefined as a weighted sum of the travel distance and distributed cost\nproportional to the likelihood of the human presence\n