Trajectory Generation, Collision Avoidance, and Cooperative Path Following of Multiple Multirotors -> Dancing Tango
In my research, I tackle the problem of trajectory generation, path following, time coordination and collision avoidance of a team of cooperating flying robots that exchange information over a supporting time-varying communication network. My results enable multiple autonomous robots to reach a set of desired destinations and arrive at the desired final points in the same time, while avoiding each other and unpredicted static or moving obstacles. The proposed solution can be employed in applications in which multiple autonomous vehicles are asked to safely cooperate and accomplish a common goal. An example is sequential monitoring, in which the flying robots have to visit and monitor a set of points of interest, while maintaining a desired temporal separation between each other.
At the trajectory generation level, a set of paths is produced that satisfy dynamic constraints of the vehicles, boundary conditions, and temporal or spatial separation between the robots, as well as collision avoidance with known static obstacles.
At the path following level, control laws are formulated to ensure that the vehicles follow the desired trajectories with a given desired speed profile.
At the time coordination level, a distributed control law is developed that ensures that the vehicles meet the desired temporal assignments of the mission, while flying along the predefined collision-free paths, even in the presence of faulty communication networks, temporary link losses, and switching topologies.
At the collision avoidance level, when an obstacle is detected, the speed of the mission or/and the pre-planned trajectories are adjusted in order to prevent the vehicles from collision, thus enhancing safety of the overall fleet of robots.
An autonomous flying robot who can safely navigate a crowded dynamic environment, and coordinate with its teammates, can definitely tango!
In this video, two quadrotors safely navigate the "dance floor" while coordinating with each other and with the beat of a song.
A video of other flight test results can be found at https://www.youtube.com/watch?v=izXmgetsBYw
THANK YOU FOR WATCHING!