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Published on Jul 4, 2019
In this video, we demonstrate how hierarchy can be employed to build motion primitives for moving agents on a grid. This enables us to achieve significant reduction in computational complexity that scales well with the number of agents. It builds on our previous work that introduced feedback-based motion primitives. The idea is to recursively build more complex motion primitives from existing ones, taking care of concatenation constraints to ensure implementability. We build suitable higher level motion primitives for achieving formation flight, morphing between formations, and even switching between these modalities. The results are shown on quadrotor vehicles in cluttered spaces.