when you avoid obstacles, how do you ensure that the plane will not collide about ego-planner-swarm

[ZhepeiWang]

@bigsuperZZZX

[bigsuperZZZX]

The plane itself does not need to be strictly collision-free. It just provides the information to push the only control point that generates this plane away from obstacles. Whether the final trajectory is collision-free is guaranteed by a post-check procedure.

[001zwzwzw]

@bigsuperZZZX Thanks very much ! then,i want to ask the problem that every trajectories of drone 0-9 are known other drones?For example the trajectory of drone 0 is known by other drones like drone 1-9? how do you achieve them in procedure

[bigsuperZZZX]

Everyone knows others' trajectories via a wireless broadcasting network.

[001zwzwzw]

@bigsuperZZZX Wether this method will bring a communication pressure in real test of UAV-swarm ?thanks!

[bigsuperZZZX]

It's hard to tell since wireless communication quality is affected by many factors.
According to our tests, a swarm of ten drones enjoys the WiFi connection.
We haven't tested more agents as we have 10 drones in total.

[001zwzwzw]

@bigsuperZZZX ok I learn more knowledge from you! Thank you, senior brother!
about hardware equipment,do you use two camera to run ego-planner? one provides depth image,another provides position information?

[001zwzwzw]

for example D435i and T265?

[bigsuperZZZX]

We use D435 only with vins which positions our drones.

[001zwzwzw]

yea! I konw ! Thank you very much