Design Choices

Trajectory Representation & Associated Controls

• Velocity vector [In Current CA​]
• Way point & max speed [Propose for new implementation]
• Full acceleration, velocity, position trajectory using :​
  • Set of piece-wise polynomials [UPenn]​
  • Boundary State Constraint Primitive [Tlab MPC]
  • B-spline [HKUST]
  • Reflexxes [Tlab previous autonomy solution]​

Whether to implement rules

• Yes [Propose for new implementation] [In Current CA​]​
• No​

What information to use from neighbouring UAVs​

• Sensed state [In Current CA​]
• Intent [Propose for new implementation]

Search for solution​

• Gradient descent [Propose for new implementation]
• Brute-force search [In Current CA​]
• Linear Programming, Sequential Quadratic Programming, …​

Application of solution​

• Full solution [In Current CA​]
• Half solution (like in RVO) [Propose for new implementation]