TY  - BOOK
AU  - Yunes Sharaf Noman Alqadasi
AU  - Ayman H. Kassem , 
AU  - Gamal M. Elbayoumi , 
TI  - Motion planning : : guidance and control of autonomous swarm flying-robots / 
PY  - 2021///
CY  - Cairo : 
PB  - Yunes Sharaf Noman Alqadasi , 
KW  - Multi-Robot Path Planning
KW  - Multi-Robot Task Allocation
KW  - Swarm UAVs
N1  - Thesis (Ph.D.) - Cairo University - Faculty of Engineering - Department of Aerospace Engineering; Issued also as CD
N2  - Small Unmanned Flying Vehicles (UFV) such as multicopters have gained a considerable popularity over the last years.This noticeable interest has arisen due to their versatility, agility, maneuverability, and large range of applications. However, some complicated tasks and applications required a swarm formation consists of multiple flying robots working in a collaborative and coordinated manner to effectively accomplish the intended missions.This dissertation proposes a set of algorithmsto deal with motion planning, trajectory generation and control of basic behaviors and typical missions in swarm robotics such as:Synchronous Allocation and Planning of Trajectories (SAPT) both in obstacle-free and obstacle-cluttered environments,Multi-Robots Guidance Problems (MRGP), Pattern Formation and Collective Movement Control (PFCMC), and Guided Swarm to Intercept Moving Targets (GSIMT).Allaforementioned tasksare modeled and implemented in MATLAB with three-dimension animation and simulation to demonstrate the convergence and features of the proposed algorithms.These basic missions will be applied to different swarm applications
UR  - http://172.23.153.220/th.pdf
ER  -