Collision Avoidance of 3D Rectangular Planes by Multiple Cooperating Autonomous Agents

Figure 1

(a) Conventional model-predictive control-based path planning requires that states are outside of polygonal obstacles resulting in the path cutting through the obstacle. (b) The MILP approach of using a straight-line trajectory between waypoints [22]. (c) The smooth and continuous path for MDT demonstration of obstacle avoidance.

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(b)

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