Mixed-Integer-Based Path and Morphing Planning for a Tensegrity Drone

Mixed-Integer-Based Path and Morphing Planning for a Tensegrity Drone

This paper proposes a method for simultaneously planning a path and a sequence of deformations for a tensegrity drone. Previous work in the field required the use of bounding surfaces, making the planning more conservative. The proposed method takes advantage of the need to use mixed-integer variabl...

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Bibliographic Details
Main Authors: Sergei Savin, Amer Al Badr, Dmitry Devitt, Roman Fedorenko, Alexandr Klimchik
Format: Article
Language:English
Published: MDPI AG 2022-05-01
Series:Applied Sciences
Subjects:
tensegrity drone
morphing planning
mixed-integer programming
big-M relaxation
configuration dataset
Online Access:https://www.mdpi.com/2076-3417/12/11/5588

Internet

https://www.mdpi.com/2076-3417/12/11/5588

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