This paper is concerned with a trajectory optimization problem for multiple unmanned aerial vehicles (multi-UAV) systems, where the optimization model is constructed based on quadrotor UAV dynamics. The problem is decomposed into a two-layer structure consists of a master problem and $n$ subproblems, with $n$ the amount of UAVs in the system. We propose a model-based distributed algorithm to minimize the energy consumption of the multi-UAV system, in which each UAV obtains its own trajectory by solving the corresponding subproblem, and the UAVs coordinate their trajectories according to master problem. It is shown that the proposed algorithm achieves exact convergence over directed networks, and an upper bound on the residual of cost function is provided. A numerical simulation is presented to demonstrate the validity of our algorithm.

本文关注多无人机（multi-UAV）系统的轨迹优化问题，其中优化模型是基于四旋翼无人机动力学构建的。问题被分解为两层结构，由主问题和$n$ 子问题，与 $n$系统中无人机​​的数量。我们提出了一种基于模型的分布式算法来最小化多无人机系统的能耗，其中每个无人机通过解决相应的子问题来获得自己的轨迹，无人机根据主问题协调它们的轨迹。结果表明，该算法在有向网络上实现了精确收敛，并给出了代价函数残差的上界。一个数值模拟被提出来证明我们的算法的有效性。