4 papers
Number Adaptive Formation Flight Planning via Affine Deformable Guidance in Narrow Environments
Yuan Zhou, Jialiang Hou, Guangtong Xu +1
Formation maintenance with varying number of drones in narrow environments hinders the convergence of planning to the desired configurations. To address this challenge, this paper…
TopAY: Efficient Trajectory Planning for Differential Drive Mobile Manipulators via Topological Paths Search and Arc Length-Yaw Parameterization
Long Xu, Choilam Wong, Mengke Zhang +3
Differential drive mobile manipulators combine the mobility of wheeled bases with the manipulation capability of multi-joint arms, enabling versatile applications but posing consid…
Primitive-Swarm: An Ultra-lightweight and Scalable Planner for Large-scale Aerial Swarms
Jialiang Hou, Xin Zhou, Neng Pan +5
Achieving large-scale aerial swarms is challenging due to the inherent contradictions in balancing computational efficiency and scalability. This paper introduces Primitive-Swarm,…
Primitive-Planner: An Ultra Lightweight Quadrotor Planner with Time-optimal Primitives
Jialiang Hou, Neng Pan, Zhepei Wang +4
It is a significant requirement for a quadrotor trajectory planner to simultaneously guarantee trajectory quality and system lightweight. Many researchers focus on this problem, bu…