Distributed Drone Swarm Trajectory Planner Using Topology Planning Under Communication Delay

Abstract

With the advancement of drone technology, drone swarms play a vital role in various applications. In drone swarms, path planning is crucial for ensuring both the efficiency and safety of swarm operations. However, in dynamic environments, communication delays may lead to instability and inefficiency in path planning.

This paper proposes a drone swarm path planning algorithm that explicitly models communication delay. Through delay-aware strategy design and experiments, the method improves planning efficiency and operation safety, with computation time reduced by 10.24%.

Citation

@inproceedings{liu2024distributed,
  author={Liu, Xingxun and Miao, Zhiqiang and Wang, Yaonan},
  title={Distributed Drone Swarm Trajectory Planner Using Topology Planning Under Communication Delay},
  booktitle={2024 IEEE International Conference on Unmanned Systems (ICUS)},
  pages={1629--1634},
  year={2024},
  doi={10.1109/ICUS61736.2024.10839900}
}