A trajectory-generation framework for time-critical cooperative missions

This paper introduces a heuristic planar trajectory-generation framework for multiple vehicles. Desired feasible trajectories are generated using Pythagorean Hodograph B ́ezier curves that satisfy the dynamic constraints of the vehicles, and guarantee spatial separation between the paths for safe operation. It is shown that the trajectory generation framework can be cast into a constrained optimization problem where a set of (sub)optimal desired trajectories are obtained by minimizing a cost function. To show the efficiency of the algorithm, a simulation example is given, where three fixed-wing Unmanned Aerial Vehicles are following and coordinating along feasible trajectories that are generated by the algorithm.