Cooperative trajectory generation using Pythagorean Hodograph Bézier curves

Ronald Choe, Javier Puig-Navarro, Venanzio Cichella, Enric Xargay, Naira Hovakimyan

Research output: Contribution to journalArticlepeer-review


This paper presents a cooperative trajectory-generation framework to efficiently compute a set of spatial trajectories for a team of cooperating vehicles: in particular, for unmanned aerial vehicles. The desired, feasible trajectories are generated using Pythagorean Hodograph Bézier curves, satisfy stringent spatial and temporal constraints, do not violate the dynamic constraints of the vehicles, and guarantee spatial deconfliction between the trajectories for safe operation. A multivehicle mission scenario is presented to show the efficacy of the proposed cooperative trajectory-generation framework.

Original languageEnglish (US)
Pages (from-to)1744-1763
Number of pages20
JournalJournal of Guidance, Control, and Dynamics
Issue number8
StatePublished - 2016

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Aerospace Engineering
  • Space and Planetary Science
  • Electrical and Electronic Engineering
  • Applied Mathematics

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