Reliance on external localization infrastructure and centralized coordination are main limiting factors for formation flying of vehicles in large numbers and in unprepared environments. While solutions using onboard localization address the dependency on external infrastructure, the associated coordination strategies typically lack collision avoidance and scalability. To address these shortcomings, we present a unified pipeline with onboard localization and a distributed, collision-free motion planning strategy that scales to a large number of vehicles. Since distributed collision avoidance strategies are known to result in gridlock, we also present a decentralized task assignment solution to deconflict vehicles. We experimentally validate our pipeline in simulation and hardware. The results show that our approach for solving the optimization problem associated with motion planning gives solutions within seconds in cases where general purpose solvers fail due to high complexity. In addition, our lightweight assignment strategy leads to successful and quicker formation convergence in 96-100% of all trials, whereas indefinite gridlocks occur without it for 33-50% of trials. By enabling large-scale, deconflicted coordination, this pipeline should help pave the way for anytime, anywhere deployment of aerial swarms.

中文翻译：

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用于可扩展、无冲突编队飞行的分布式管道

对外部定位基础设施和集中协调的依赖是大量车辆在无准备环境中编队飞行的主要限制因素。虽然使用机载本地化的解决方案解决了对外部基础设施的依赖，但相关的协调策略通常缺乏冲突避免和可扩展性。为了解决这些缺点，我们提出了一个具有车载定位和分布式、无碰撞运动规划策略的统一管道，可扩展到大量车辆。由于已知分布式防撞策略会导致交通拥堵，因此我们还提出了一种分散式任务分配解决方案来消除车辆冲突。我们在模拟和硬件中通过实验验证了我们的管道。结果表明，在通用求解器因高复杂性而失败的情况下，我们解决与运动规划相关的优化问题的方法可在几秒钟内提供解决方案。此外，我们的轻量级分配策略在 96-100% 的所有试验中导致成功和更快的编队收敛，而在没有它的情况下，33-50% 的试验会发生无限期的僵局。通过实现大规模、无冲突的协调，这条管道应该有助于为随时随地部署空中集群铺平道路。而在没有它的情况下，33-50% 的试验会发生无限期的僵局。通过实现大规模、无冲突的协调，这条管道应该有助于为随时随地部署空中集群铺平道路。而在没有它的情况下，33-50% 的试验会发生无限期的僵局。通过实现大规模、无冲突的协调，这条管道应该有助于为随时随地部署空中集群铺平道路。