Multi-uav continuum deformation flight optimization in cluttered urban environments

Hossein Rastgoftar, Ella M. Atkins

Research output: Chapter in Book/Report/Conference proceedingConference contribution


This paper studies collective motion optimization of a fleet of Unmanned Aerial Vehicles (UAVs) flying over a populated and geometrically constrained area. The paper treats UAVs as particles of a deformable body such that UAV coordination is defined by a homeomorphic continuum deformation function. Under continuum deformation, the distance between indi-vidual UAVs can significantly change while assuring the UAVs do not collide. This enables a swarm to travel through a potentially cluttered environment. To ensure inter-agent and obstacle collision avoidance, the paper formulates safety requirements as inequality constraints of the coordination optimization problem. The main objective of the paper is then to optimize UAV team motion while satisfying all continuum deformation inequality constraints. Given initial and target configurations, motion cost is defined as a weighted sum of the travel distance and distributed cost proportional to the likelihood of human presence in the overflown region.

Original languageEnglish (US)
Title of host publicationAIAA Scitech 2019 Forum
PublisherAmerican Institute of Aeronautics and Astronautics Inc, AIAA
ISBN (Print)9781624105784
StatePublished - 2019
Externally publishedYes
EventAIAA Scitech Forum, 2019 - San Diego, United States
Duration: Jan 7 2019Jan 11 2019

Publication series

NameAIAA Scitech 2019 Forum


ConferenceAIAA Scitech Forum, 2019
Country/TerritoryUnited States
CitySan Diego

ASJC Scopus subject areas

  • Aerospace Engineering


Dive into the research topics of 'Multi-uav continuum deformation flight optimization in cluttered urban environments'. Together they form a unique fingerprint.

Cite this