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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2511.19653 |
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| _version_ | 1866908673185415168 |
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| author | Ibrahim, Mahmud Suhaimi Rahman, Shantanu Hasan, Muhammad Samin Ahmad, Minhaj Uddin Abrar, Abdullah |
| author_facet | Ibrahim, Mahmud Suhaimi Rahman, Shantanu Hasan, Muhammad Samin Ahmad, Minhaj Uddin Abrar, Abdullah |
| contents | Collision-free path planning is the most crucial component in multi-UAV formation-flying (MFF). We use unlabeled homogenous quadcopters (UAVs) to demonstrate the use of a flow network to create complete (inter-UAV) collision-free paths. This procedure has three main parts: 1) Creating a flow network graph from physical GPS coordinates, 2) Finding a path of minimum cost (least distance) using any graph-based path-finding algorithm, and 3) Implementing the Ford-Fulkerson Method to find the paths with the maximum flow (no collision). Simulations of up to 64 UAVs were conducted for various formations, followed by a practical experiment with 3 quadcopters for testing physical plausibility and feasibility. The results of these tests show the efficacy of this method's ability to produce safe, collision-free paths. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_19653 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Flow-Based Path Planning for Multiple Homogenous UAVs for Outdoor Formation-Flying Ibrahim, Mahmud Suhaimi Rahman, Shantanu Hasan, Muhammad Samin Ahmad, Minhaj Uddin Abrar, Abdullah Robotics Collision-free path planning is the most crucial component in multi-UAV formation-flying (MFF). We use unlabeled homogenous quadcopters (UAVs) to demonstrate the use of a flow network to create complete (inter-UAV) collision-free paths. This procedure has three main parts: 1) Creating a flow network graph from physical GPS coordinates, 2) Finding a path of minimum cost (least distance) using any graph-based path-finding algorithm, and 3) Implementing the Ford-Fulkerson Method to find the paths with the maximum flow (no collision). Simulations of up to 64 UAVs were conducted for various formations, followed by a practical experiment with 3 quadcopters for testing physical plausibility and feasibility. The results of these tests show the efficacy of this method's ability to produce safe, collision-free paths. |
| title | Flow-Based Path Planning for Multiple Homogenous UAVs for Outdoor Formation-Flying |
| topic | Robotics |
| url | https://arxiv.org/abs/2511.19653 |