@inproceedings{ec2c4a058a1548259e1843f4b1de053a,
title = "Planning Parcel Relay Manoeuvres for Quadrotors",
abstract = "In this paper, a strategy for planning aggressive collision-free parcel relay manoeuvres for quadrotors is proposed. The method relies on the generation of optimal polynomial trajectories with acceleration constraints in order to coordinate the attitude of the vehicles during the package exchange. The problem is formulated as a mixed-integer quadratic program where the integer constraints ensure collision avoidance. The manoeuvre is divided into three phases and the dynamical model of the robots is considered to ensure the vehicles keep a suitable relative orientation during the parcel transfer. Simulation results demonstrate the success of the presented strategy. ",
author = "Pinto, {Jo{\~a}o Sousa} and Guerreiro, {Bruno J. N.} and Rita Cunha",
note = "Funding Information: info:eu-repo/grantAgreement/FCT/3599-PPCDT/PTDC%2FEEI-AUT%2F1732%2F2020/PT# , and HARMONY (LISBOA-01-0145-FEDER-031411) which include Lisboa 2020 and PIDDAC funds, and also the research units projects LARSYS (UIDB/EEA/50009/2020) and CTS (UIDB/EEA/00066/2020). Publisher Copyright: {\textcopyright} 2021 IEEE.; 2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021 ; Conference date: 15-06-2021 Through 18-06-2021",
year = "2021",
month = jun,
day = "15",
doi = "10.1109/ICUAS51884.2021.9476757",
language = "English",
isbn = "978-1-6654-4704-1",
volume = "Piscataway",
series = "International Conference on Unmanned Aircraft Systems (ICUAS)",
publisher = "Institute of Electrical and Electronics Engineers (IEEE)",
pages = "137--145",
booktitle = "2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021",
address = "United States",
}