EGO-Swarm: A Fully Autonomous and Decentralized Quadrotor Swarm System in Cluttered Environments
Xin Zhou Jiangchao Zhu Hongyu Zhou Chao Xu Fei Gao Xin Zhou Jiangchao Zhu Hongyu Zhou Chao Xu Fei Gao
This paper presents a decentralized and asynchronous systematic solution for multi-robot autonomous navigation in unknown obstacle-rich scenes using merely onboard resources. The planning system is formulated under gradient-based local planning framework, where collision avoidance is achieved by formulating the collision risk as a penalty of a nonlinear optimization problem. In order to improve ro...