2022
DOI: 10.48550/arxiv.2201.10509
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Real-Time Deployment of a Large-Scale Multi-Quadcopter System (MQS)

Abstract: This paper presents a continuum mechanics-based approach for real-time deployment (RTD) of a multi-quadcopter system between moving initial and final configurations arbitrarily distributed in a 3-D motion space. The proposed RTD problem is decomposed into spatial planning, temporal planning and acquisition sub-problems. For the spatial planning, the RTD desired coordination is defined by integrating (i) rigid-body rotation, (ii) one-dimensional homogeneous deformation, and (ii) one-dimensional heterogeneous co… Show more

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