A 3D Path Planning Approach Extended by Bifurcation Theory for Formation Flights

  • Christoph RascheEmail author
  • Claudius Stern
  • Lisa Kleinjohann
  • Bernd Kleinjohann
Part of the Studies in Computational Intelligence book series (SCI, volume 480)


After big disasters, search and rescue missions take place. During these missions it is essential to obtain an overview of the overall situation to arrange efficient rescue tasks as soon as possible. Afterwards, this information has to be continuously updated during the complete mission in order to quickly respond to changing conditions. The use of unmanned aerial vehicles (UAVs) is a viable choice to obtain such an overview in a fast and efficient way. Using multiple UAVs, the problem of coordination has to be solved to decrease the time needed to explore an area. We present an approach for the coordination of UAVs by setting up formation patterns using bifurcation theory. We combine this theory with a potential field approach for exploration, based on harmonic functions.


Harmonic Function Potential Field Formation Pattern Path Planning Model Predictive Control 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Christoph Rasche
    • 1
    Email author
  • Claudius Stern
    • 1
  • Lisa Kleinjohann
    • 1
  • Bernd Kleinjohann
    • 1
  1. 1.Electrical Engineering and Mathematics, Department of Computer Science, C-LABUniversity of PaderbornPaderbornGermany

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