设计无人机群无碰撞通过狭窄通道的飞行路径，适配充电与存储设施
Flight Patterns for Swarms of Drones
- 通过排队区匹配设施处理速率，实现有序通行
- 确保多架无人机在狭小空间内不发生碰撞
- 支持不同通行策略，适用于充电/停靠场景
我们提出一种无人机群无碰撞通过一个或多个狭窄开口的飞行模式。这些狭窄开口可连接基础设施组件，如充电站用于补电、机库用于存储。飞行模式采用调度区（队列），使无人机进入速度匹配基础设施及其开口的处理能力。该方案防止碰撞，并可实施不同的通行策略以控制无人机通过顺序。我们通过三维显示演示了该飞行模式，使用配备光源的无人机勾勒出形状。
原文摘要 · Abstract (English)
We present flight patterns for a collision-free passage of swarms of drones through one or more openings. The narrow openings provide drones with access to an infrastructure component such as charging stations to charge their depleted batteries and hangars for storage. The flight patterns are a staging area (queues) that match the rate at which an infrastructure component and its openings process drones. They prevent collisions and may implement different policies that control the order in which drones pass through an opening. We illustrate the flight patterns with a 3D display that uses drones configured with light sources to illuminate shapes.
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