Hierarchical multi-UAV planning can produce scheduled paths that become unsafe during execution because tracking dynamics, actuator limits, sampling, and communication are not fully represented upstream. We introduce a certificate-guided safe-tracking framework that treats each planned path as a versioned execution con...
Yu-Hua Cong, Xian Zhu, Zhisheng Wang et al.· Drones· 0 citations
This paper addresses low-altitude navigation of multiple UAVs through a shared two-dimensional environment with narrow passages, blocked cells, and predicted moving obstacles while preserving an assigned task order. The planner receives ordered task bundles from an allocator and checks static obstacles, moving-obstacle...
This study addresses dynamic multi-UAV task allocation under online task release, static obstacles, deadlines, limited energy, and vehicle failures. We propose an event-triggered path-based bid assignment method (ET-PBBA). At each mission event, an A-star module estimates the static-obstacle travel cost of feasible UAV...
