Real-Time Stochastic Optimal Control for Multi-Agent Quadrotor Systems
Real-Time Stochastic Optimal Control for Multi-Agent Quadrotor Systems
This paper presents a novel method for controlling teams of unmanned aerial vehicles using Stochastic Optimal Control (SOC) theory. The approach consists of a centralized high-level planner that computes optimal state trajectories as velocity sequences, and a platform-specific low-level controller which ensures that these velocity sequences are met. The planning …