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This paper presents a distributed algorithm for generating collision-free trajectories for multiple quadrotors using Voronoi partitioning to ensure safety in a shared workspace. Each drone independently replans its trajectory by solving small-scale optimization problems that account for its orientation and local constraints, leading to efficient computation and communication. Extensive simulations demonstrate that this method outperforms other Voronoi-based approaches in successfully finding collision-free

Author

gslv5185

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EN