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MultiUAV Coordination and Control

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Addresses the problem of real-time planning and control of a group of aerial vehicles flying in an environment with obstacles and subject to disturbances and uncertainties. We present a novel methodology to the coordination of multiple heterogeneous vehicles that is based on a classical technique known as CL-RRT. We use a decentralized processing and communication to optimize the plan executed by each agent, providing a better solution to the execution step of the CL-RRT.

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