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Jungwon Park, and H. Jin Kim

Abstract: This paper presents a new trajectory planning method for multiple quadrotors in obstacle-dense environments. We suggest a relative safe flight corridor (RSFC) to model safe region between a pair of agents, and it is used to generate linear constraints for inter-collision avoidance by utilizing the convex hull property of relative Bernstein polynomial. Our approach employs a graph-based multi-agent pathfinding algorithm to generate an initial trajectory, which is used to construct a safe flight corridor (SFC) and RSFC. We express the trajectory as a piecewise Bernstein polynomial and formulate the trajectory planning problem into one quadratic programming problem using linear constraints from SFC and RSFC.


  title={Fast trajectory planning for multiple quadrotors using relative safe flight corridor},
  author={Park, Jungwon and Kim, H Jin},
  booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},