A homotopic planning framework for robot swarms that approximates optimal virtual tube trajectories with affine functions for low-complexity centralized planning combined with distributed control.
RFlySim: Automatic Test Platform for UA V Autopilot Systems with FPGA-based Hardware-in- the-loop Simulations,
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An Efficient Real-Time Planning Method for Swarm Robotics Based on an Optimal Virtual Tube
A homotopic planning framework for robot swarms that approximates optimal virtual tube trajectories with affine functions for low-complexity centralized planning combined with distributed control.