Multi-UAV-Cooperative-Motion-Planning

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Multi-UAV-Cooperative-Motion-Planning

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Multi-UAV Cooperative Motion Planning Under Global Spatio-Temporal Path Inspiration in Constraint-Rich Dynamic Environments

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# Multi-UAV Cooperative Motion Planning Under Global Spatio-Temporal Path Inspiration in Constraint-Rich Dynamic Environments
## 40 UAVs within constraint-rich environment
![Alt text](https://raw.githubusercontent.com/maozihaoo/Multi-UAV-Cooperative-Motion-Planning/main/src/constraint-rich_environment-min.gif)
## UAVs within constraint-rich dynamic environment

![Alt text](https://raw.githubusercontent.com/maozihaoo/Multi-UAV-Cooperative-Motion-Planning/main/src/dynamic1-min.gif)
## UAVs within constraint-rich dynamic environment
![Alt text](https://raw.githubusercontent.com/maozihaoo/Multi-UAV-Cooperative-Motion-Planning/main/src/dynamic2-min.gif)

# Credits
For researchers that have leveraged or compared to this work, please cite the following:

```
@ARTICLE{10582491,
    author={Zihao Mao and Mingyu Hou and Herui Li and Yi Yang and Wenjie Song},
    journal={IEEE Transactions on Intelligent Vehicles}, 
    title={Multi-UAV Cooperative Motion Planning Under Global Spatio-Temporal Path Inspiration in Constraint-Rich Dynamic Environments}, 
    year={2024},
    volume={},
    number={},
    pages={1-14},
    keywords={Planning;Trajectory;Autonomous aerial vehicles;Collision avoidance;Vehicle dynamics;Dynamics;Heuristic algorithms;Multiple UAVs;Conflict resolution;Motion planning;Collision avoidance;Narrow dynamic environment},
    doi={10.1109/TIV.2024.3422172}}
```

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