Centralized collision-free polynomial trajectories and goal assignment for aerial swarms

Computationally tractable methods are developed for centralized goal assignment and planning of collision-free polynomial-in-time trajectories systems multiple aerial robots. The method first assigns robots to goals minimize total time-in-motion based on initial trajectories. By coupling the trajectory generation, motion plans tend require only limited collision resolution. then refined by checking potential collisions resolving them using either start time delays or altitude assignment. Numerical experiments both show significant reductions in required agents arrive at with modest additional computational effort comparison state-of-the-art prior work, enabling thousands agents.