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Goal Assignment and Trajectory Planning for Large Teams of Aerial Robots

Authors: Matthew Turpin, Kartik Mohta, Nathan Michael, Vijay Kumar

Published: 2013 (Conference Paper)

Source: Robotics: Science and Systems

Algorithm: Goal Assignment and Trajectory Planning

Summary

Addresses the combined goal assignment and collision-free trajectory planning problem for large teams of quadrotor aerial robots. Exploits symmetry of quadrotor dynamics to show that optimal assignment and trajectory generation can be solved efficiently and independently, enabling scalable planning for tens to hundreds of UAVs.

Abstract

Primary

Paper roboticsproceedings.org

Tags

  • Multi-robot systems

  • Goal assignment

  • Trajectory planning

  • Quadrotors

  • UAV swarms

  • Hungarian algorithm

  • Multi-agent systems