Decentralized Motion Planning with Collision Avoidance for a Team of UAVs under High Level Goals

The video illustrates simulation and experimental results of a team of unmanned aerial vehicles executing Linear Temporal Logic (LTL) tasks. More specifically, given a certain LTL task over predefined regions of interest, each agent derives a high-level plan that satisfies the given task. Then, it executes the plan using a continuous controller that is based on decentralized navigation functions, which also guarantee inter-agent collision avoidance. The video shows one simulation  and two experimental scenarios.