Time and Energy Optimized Trajectory Generation for Multi-Agent Constellation Changes
Paul Ladinig Bernhard Rinner Stephan Weiss Paul Ladinig Bernhard Rinner Stephan Weiss
Planning the simultaneous movement of multiple agents represents a challenging coordination problem, and ideally safety and efficiency are jointly addressed. This paper introduces a planning algorithm for fast and energy-efficient trajectories with reduced collision potential from a start to an end constellation. This new approach combines trajectory approximation based on model predictive control...