一种可扩展、无冲突编队飞行的分布式流水线
A Distributed Pipeline for Scalable, Deconflicted Formation Flying
摘要：
对外部定位基础设施的依赖和集中协调是大量飞行器在无准备环境中编队飞行的主要限制因素。虽然使用机载本地化的解决方案解决了对外部基础设施的依赖性，但相关的协调策略通常缺乏冲突避免和可扩展性。为了解决这些缺点，我们提出了一个统一的管道与车载定位和分布式，无碰撞的运动规划策略，可扩展到大量的车辆。由于分布式避碰策略是已知的，导致交通堵塞，我们还提出了一个分散的任务分配解决方案，以deconflict车辆。我们实验验证我们的流水线在仿真和硬件。结果表明，我们的方法来解决与运动规划相关的优化问题，在几秒钟内给出解决方案的情况下，通用求解器失败，由于高复杂性。此外，我们的轻量级分配策略在96-100%的所有试验中导致成功和更快的队形收敛，而在33-50%的试验中没有它会出现不确定的僵局。通过实现大规模、无冲突的协调，这条管道应该有助于为随时随地部署空中蜂群铺平道路。
英文摘要：
Reliance on external localization infrastructure and centralized coordination are main limiting factors for formation flying of vehicles in large numbers and in unprepared environments. While solutions using onboard localization address the dependency on external infrastructure, the associated coordination strategies typically lack collision avoidance and scalability. To address these shortcomings, we present a unified pipeline with onboard localization and a distributed, collision-free motion planning strategy that scales to a large number of vehicles. Since distributed collision avoidance strategies are known to result in gridlock, we also present a decentralized task assignment solution to deconflict vehicles. We experimentally validate our pipeline in simulation and hardware. The results show that our approach for solving the optimization problem associated with motion planning gives solutions within seconds in cases where general purpose solvers fail due to high complexity. In addition, our lightweight assignment strategy leads to successful and quicker formation convergence in 96-100% of all trials, whereas indefinite gridlocks occur without it for 33-50% of trials. By enabling large-scale, deconflicted coordination, this pipeline should help pave the way for anytime, anywhere deployment of aerial swarms.
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