Cooperative Multi-UAV Conflict Avoidance Planning in a Complex Urban Environment

Trajectory planning is of great value and yet challenging for multirotor unmanned aerial vehicle (UAV) applications in a complex urban environment, mainly due to the complexities handling cluttered obstacles. The problem further complicates itself context autonomous multi-UAV trajectory considering conflict avoidance future city applications. To tackle this problem, paper introduces cooperative (MCTP) proposes bilevel model problem. upper level modeled as an extended multiple traveling salesman aiming at generating trajectories based on heuristic framework task allocation scheduling meanwhile UAV kinodynamic properties. lower holding time assignment avoid possible spatiotemporal conflicts, where difference analyzed proposed state-time graph method. Numerical studies are conducted both 1 km2 virtual 12 real with set tasks obstacles settings. results show that capable from system-level perspective