Distributed Trajectory Planning for Multiple Autonomous Aerial Vehicles

Abstract

With an increasing amount of vehicles featuring some degree of autonomy possible interactions between agents must be taken into account to guarantee safe operation within a confined space.

In this Bachelor thesis a centralized planning algorithm was developed that generates safe trajectories for multiple CRS EmboRockETH agents. Then, this planner was cast into distributed form. Based on the distributed optimization problem decentralized planners were implemented using ALADIN and round-robin scheduling. Finally, the performance of all trajectory planners was evaluated and compared using various problem setups.

This project served as my Bachelor’s thesis.