Large-Scale UAV Swarm Task Planning and Formation Maintenance
Built a dynamically reconfigurable collaborative control solution for large-scale UAV swarm mission planning and formation maintenance.
Multi-Agent ControlFormation PlanningPath PlanningReinforcement Learning
Context
This project targeted fast rallying, formation building, and stable maintenance for large UAV swarms under mission constraints:
- Targets and spatial constraints evolve dynamically.
- Formation structures must be reconfigured during execution.
- Control algorithms must balance stability and real-time performance.
Implementation
- Designed a dynamic target assignment algorithm for efficient initial rallying.
- Built 3D formation control and motion control methods for stable flight.
- Implemented formation reconfiguration strategies for in-mission structural changes.
Outcome
- Enabled fast rallying and robust formation initialization for large swarms.
- Achieved stable formation maintenance and flexible adaptation across scenarios.
- Delivered reusable collaborative-control components for downstream planning systems.