Aerial swarm navigation has always been challenging in unknown, complex environments, especially without any external positioning and computing system.
Recently, the FAST Lab of Zhejiang University has made further breakthroughs in this field. A distributed swarm trajectory planning algorithm was proposed in the latest technical report. It mainly features spatial-temporal optimization, which significantly improves the quality of generated trajectory and saves computation. Specifically, it only takes several milliseconds to calculate a local spatial-temporal optimal trajectory on embedded devices such as onboard computers. Furthermore, its complexity only increases linearly to the number of agents.
Indoor and outdoor experiments verify the algorithm’s effectiveness, and the relevant results are reported by the authoritative scientific and technological media IEEE spectrum.