| Abstract: |  The goal of this thesis was to propose in algorithm suitable for planning of initial trajectory for formations of Micro Aerial Vehicles (MAV). To find a feasible trajectory, Rapidly exploring Random Trees (RRT) are used. The advantage of RRT is that during creating of a tree, kinematic constraints are respected. Generated trajectory is needed to be reduced. This is achieved by Sequential Quadratic Programming (SQP) optimizing method. Simplified trajectory is passed to system of formation control. Created solution enables to find trajectory in complex environments and reduce computational time.
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