Swarm-Formation
Swarm-Formation is a distributed swarm trajectory optimization framwork for formation flight in dense environments.
- To be open-sourced.
Video Links(the part of real-world experiments will be disclosed soon): Youtube or Bilibili (only forMainland China).
About
Author: Lun Quan, Longji Ying, and Fei Gao from ZJU FAST Lab.
Related Paper: Distributed Swarm Trajectory Optimization for Formation Flight in Dense Environments, Lun Quan, Longji Yin, Chao Xu, and Fei Gao. This paper has been submitted to ICRA2022. Please cite our paper if you use this project in your research:
@article{quan2021distributed,
title={Distributed Swarm Trajectory Optimization for Formation Flight in Dense Environments},
author={Lun Quan and Longji Yin and Chao Xu and Fei Gao},
journal={arXiv preprint arXiv:2109.07682},
year={2021}
}
Powerful Submodules
GCOPTER: An efficient and versatile multicopter trajectory optimizer built upon a novel sparse trajectory representation named MINCO. LBFGS-Lite: An Easy-to-Use Header-Only L-BFGS Solver.