An edge-minimizing RRT* tree planner combined with distributed MPC generates and maintains line-of-sight-connected, collision-free UAV relay deployments in cluttered 3D spaces.
An air-to-ground relay communication planning method for uavs swarm applications,
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Multi-UAV Deployment in Obstacle-Cluttered Environments with LOS Connectivity
An edge-minimizing RRT* tree planner combined with distributed MPC generates and maintains line-of-sight-connected, collision-free UAV relay deployments in cluttered 3D spaces.