ICRA 2012 Paper Abstract

Close

Paper TuB01.2

Mellinger, Daniel (University of Pennsylvania), Kushleyev, Aleksandr (University of Pennsylvania), Kumar, Vijay (University of Pennsylvania)

Mixed-Integer Quadratic Program Trajectory Generation for Heterogeneous Quadrotor Teams

Scheduled for presentation during the Regular Session "Control and Planning for UAVs" (TuB01), Tuesday, May 15, 2012, 10:45−11:00, Meeting Room 1 (Mini-sota)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on May 21, 2018

Keywords Aerial Robotics, Path Planning for Multiple Mobile Robots or Agents, Motion and Path Planning

Abstract

We present an algorithm for the generation of optimal trajectories for teams of heterogeneous quadrotors in three-dimensional environments with obstacles. We formulate the problem using mixed-integer quadratic programs (MIQPs) where the integer constraints are used to enforce collision avoidance. The method allows for different sizes, capabilities, and varying dynamic effects between different quadrotors. Experimental results illustrate the method applied to teams of up to four quadrotors ranging from 65 to 962 grams and 21 to 67 cm in width following trajectories in three-dimensional environments with obstacles with accelerations approaching 1g.

 

 

Technical Content © IEEE Robotics & Automation Society

This site is protected by copyright and trademark laws under US and International law.
All rights reserved. © 2002-2018 PaperCept, Inc.
Page generated 2018-05-21  11:44:50 PST  Terms of use