Decentralized polynomial trajectory generation for flight formation of quadrotors
Sign Up to like & getrecommendations! Published in 2017 at "Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics"
DOI: 10.1177/1464419317694277
Abstract: This paper deals with the decentralized polynomial trajectory generation for the formation flight of a leader–follower network of quadrotors. The proposed decentralized trajectory planning method guarantees stability of the formation in missions with aggressive trajectories… read more here.
Keywords: topology; polynomial trajectory; trajectory generation; formation ... See more keywords
A Generalized Continuous Collision Detection Framework of Polynomial Trajectory for Mobile Robots in Cluttered Environments
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.48550/arxiv.2206.13175
Abstract: In this letter, we introduce a generalized continuous collision detection (CCD) framework for the mobile robot along the polynomial trajectory in cluttered environments including various static obstacle models. Specifically, we find that the collision conditions… read more here.
Keywords: polynomial trajectory; collision detection; generalized continuous; collision ... See more keywords