论文标题
大规模多季度系统（MQS）的实时部署
Real-Time Deployment of a Large-Scale Multi-Quadcopter System (MQS)
论文作者
论文摘要
本文介绍了一种基于连续的力学方法，用于在任意分布在3-D运动空间中的初始配置和最终配置之间的多Quadcopter系统的实时部署（RTD）。提出的RTD问题分解为空间计划，时间计划和获取子问题。对于空间规划，RTD所需的协调是通过集成（i）刚体旋转，（ii）一维同质变形的（i）和（ii）一维异质性异质避免的必要条件来定义的。通过RTD的时间计划，本文足以在每两个四个四个单独的四个四个单独的碰撞之间避免碰撞，并确保每个单个四肢旋翼的角速度的界限。对于RTD采集，由非线性动力学建模的每个四轮驱动器都应用非线性控制，以稳定，安全地跟踪所需的RTD轨迹，以使每个四方驱动器的角速度保持界限，并且不超过一定的上限。
This paper presents a continuum mechanics-based approach for real-time deployment (RTD) of a multi-quadcopter system between moving initial and final configurations arbitrarily distributed in a 3-D motion space. The proposed RTD problem is decomposed into spatial planning, temporal planning and acquisition sub-problems. For the spatial planning, the RTD desired coordination is defined by integrating (i) rigid-body rotation, (ii) one-dimensional homogeneous deformation, and (ii) one-dimensional heterogeneous coordination such that necessary conditions for inter-agent collision avoidance between every two quadcopter UAVs are satisfied. By the RTD temporal planning, this paper suffices the inter-agent collision avoidance between every two individual quadcopters, and assures the boundedness of the rotor angular speeds for every individual quadcopter. For the RTD acquisition, each quadcopter modeled by a nonlinear dynamics applies a nonlinear control to stably and safely track the desired RTD trajectory such that the angular speeds of each quadcopter remain bounded and do not exceed a certain upper limit.
