RCA

This was a project when I tried to make 3 UAV avoid each other in Gazebo simulation. The scientific term for "avoiding each other" is reciprocal collision avoidance. It was a naive design, but I do think it could work quite well in real-world. Basically, by utilizing minimum snap trajecoties and the concept of 3D roundabouts, I was able to let the multi-agent system to fly without bumping into each other.