In this paper, we investigate the multi-agent mission planning and control problem under coordination constraints such as collision avoidance and spatial coherence. We propose a sequential trajectory planning algorithm that is run by each agent in a distributed manner. Mission requirements including servicing specific regions, avoiding static and dynamic obstacles (other agents), and flying close to the other agents are incorporated into the problem as Signal Temporal Logic (STL) constraints. The planning problem under STL constraints is formulated as a Mixed Integer Linear Program and an off-the-shelf tool is used to find the high-level trajectories. The resulting high-level trajectories are then tracked by the agents via Model Predictive Control. Illustrative simulation and experiment results are presented in addition to comparing the proposed method with a centralized solution.
|Original language||English (US)|
|Title of host publication||AIAA Scitech 2021 Forum|
|Publisher||American Institute of Aeronautics and Astronautics Inc, AIAA|
|Number of pages||14|
|State||Published - 2021|
|Event||AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2021 - Virtual, Online|
Duration: Jan 11 2021 → Jan 15 2021
|Name||AIAA Scitech 2021 Forum|
|Conference||AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2021|
|Period||1/11/21 → 1/15/21|
Bibliographical noteFunding Information:
This work was partially supported by Honeywell Aerospace and MnDRIVE, University of Minnesota.
© 2021, American Institute of Aeronautics and Astronautics Inc, AIAA. All Rights Reserved.