提升无人机灯光表演性能：蜂群无人机编队的最优分配与轨迹
Enhancing Drone Light Shows Performances: Optimal Allocation and Trajectories for Swarm Drone Formations
AI总结：
本文提出统一分配与轨迹生成框架，解决大规模无人机编队的最优分配与无碰撞轨迹生成问题，实现高效、流畅的灯光表演。
摘要：
无人机灯光表演（DLShows）代表 swarm robotics 的快速成长应用，通过数百或数千架无人机的同步飞行创造 captivating 的空中展示，作为环保可重复使用的传统烟火替代品。该领域在大规模情况下面临最优分配无人机到视觉航点和生成平滑无碰撞轨迹的独特挑战。本文介绍统一分配与轨迹生成（UATG）框架。所提方法同时解决两个核心问题：将无人机最优分配到指定目标位置和生成动态可行、无碰撞、时间参数化的轨迹。UATG框架专门针对DLShows设计，确保编队间最小转换时间并保证无人机间碰撞避免。关键创新是其卓越的计算效率，使大规模协调实时化；例如，在标准笔记本上约1秒内可计算1008架无人机的最优分配和轨迹。在现实环境中广泛模拟验证了框架性能，证明其能够精确流畅地编排复杂编队，从字母数字到复杂3D形状。本文为DLShow行业提供关键进展，提供生成复杂空中编舞的实用可扩展解决方案，并为地面控制站软件建立有价值的基准，用于高效协调多个无人机。补充的动画模拟可在https://youtu.be/-Fjrhw03594获取。
英文摘要：
Drone light shows (DLShows) represent a rapidly growing application of swarm robotics, creating captivating aerial displays through the synchronized flight of hundreds or thousands of unmanned aerial vehicles (UAVs) as environmentally friendly and reusable alternatives to traditional pyrotechnics. This domain presents unique challenges in optimally assigning drones to visual waypoints and generating smooth, collision-free trajectories at a very large scale. This article introduces the Unified Assignment and Trajectory Generation (UATG) framework. The proposed approach concurrently solves two core problems: the optimal assignment of drones to designated goal locations and the generation of dynamically feasible, collision-free, time-parameterized trajectories. The UATG framework is specifically designed for DLShows, ensuring minimal transition times between formations and guaranteeing inter-drone collision avoidance. A key innovation is its exceptional computational efficiency, enabling the coordination of large-scale in real-time; for instance, it computes the optimal assignment and trajectories for 1008 drones in approximately one second on a standard laptop. Extensive simulations in realistic environments validate the framework's performance, demonstrating its capability to orchestrate complex formations, from alphanumeric characters to intricate 3D shapes, with precision and visual smoothness. This work provides a critical advancement for the DLShow industry, offering a practical and scalable solution for generating complex aerial choreography and establishing a valuable benchmark for ground control station software designed for the efficient coordination of multiple UAVs. A supplemental animated simulation of this work is available at https://youtu.be/-Fjrhw03594.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
